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Plane: added FLIGHT_OPTIONS bit to enable yaw control in ACRO mode

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this allows for yaw damper in ACRO, which is important on some
vehicles with no vertical stabilize

See
https://discuss.ardupilot.org/t/rudderless-split-rudder-flying-wing/69273/4
This commit is contained in:
Andrew Tridgell 2021-04-08 17:56:33 +10:00
parent 4cc92c6b3e
commit e5308db8c2
3 changed files with 13 additions and 5 deletions
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15
ArduPlane/Attitude.cpp
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@ -363,10 +363,17 @@ void Plane::stabilize_acro(float speed_scaler)
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, pitchController.get_rate_out(pitch_rate, speed_scaler));
}
/*
manual rudder for now
*/
steering_control.steering = steering_control.rudder = rudder_input();
steering_control.steering = rudder_input();
if (plane.g2.flight_options & FlightOptions::ACRO_YAW_DAMPER) {
// use yaw controller
calc_nav_yaw_coordinated(speed_scaler);
} else {
/*
manual rudder
*/
steering_control.rudder = steering_control.steering;
}
}
/*

2
ArduPlane/Parameters.cpp
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@ -1120,7 +1120,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: FLIGHT_OPTIONS
// @DisplayName: Flight mode options
// @Description: Flight mode specific options
// @Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL.
// @Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5:Enable yaw damper in acro mode
// @User: Advanced
AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),

1
ArduPlane/defines.h
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@ -153,6 +153,7 @@ enum FlightOptions {
DISABLE_TOFF_ATTITUDE_CHK = (1 << 2),
CRUISE_TRIM_AIRSPEED = (1 << 3),
CLIMB_BEFORE_TURN = (1 << 4),
ACRO_YAW_DAMPER = (1 << 5),
};
enum CrowFlapOptions {