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Plane: added RUDDER_ONLY parameter

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this gives much easier setup for rudder only aircraft.
This commit is contained in:
Andrew Tridgell 2015-04-16 11:16:30 +10:00
parent 4fe39c67b4
commit edec706c12
5 changed files with 20 additions and 3 deletions
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4
ArduPlane/Attitude.pde
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@ -968,7 +968,9 @@ static void set_servos(void)
// send values to the PWM timers for output // send values to the PWM timers for output
// ---------------------------------------- // ----------------------------------------
channel_roll->output(); if (g.rudder_only == 0) {
channel_roll->output();
}
channel_pitch->output(); channel_pitch->output();
channel_throttle->output(); channel_throttle->output();
channel_rudder->output(); channel_rudder->output();

2
ArduPlane/Parameters.h
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@ -136,6 +136,7 @@ public:
k_param_hil_mode, k_param_hil_mode,
k_param_land_disarm_delay, k_param_land_disarm_delay,
k_param_glide_slope_threshold, k_param_glide_slope_threshold,
k_param_rudder_only,
// 100: Arming parameters // 100: Arming parameters
k_param_arming = 100, k_param_arming = 100,
@ -428,6 +429,7 @@ public:
AP_Int8 mix_mode; AP_Int8 mix_mode;
AP_Int8 vtail_output; AP_Int8 vtail_output;
AP_Int8 elevon_output; AP_Int8 elevon_output;
AP_Int8 rudder_only;
AP_Float mixing_gain; AP_Float mixing_gain;
AP_Int8 reverse_elevons; AP_Int8 reverse_elevons;
AP_Int8 reverse_ch1_elevon; AP_Int8 reverse_ch1_elevon;

7
ArduPlane/Parameters.pde
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@ -757,6 +757,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: User // @User: User
GSCALAR(mixing_gain, "MIXING_GAIN", 0.5f), GSCALAR(mixing_gain, "MIXING_GAIN", 0.5f),
// @Param: RUDDER_ONLY
// @DisplayName: Rudder only aircraft
// @Description: Enable rudder only mode. The rudder will control attitude in attitude controlled modes (such as FBWA). You should setup your transmitter to send roll stick inputs to the RCMAP_YAW channel (normally channel 4). The rudder servo should be attached to the RCMAP_YAW channel as well. Note that automatic ground steering will be disabled for rudder only aircraft. You should also set KFF_RDDRMIX to 1.0. You will also need to setup the YAW2SRV_DAMP yaw damping appropriately for your aircraft. A value of 0.5 for YAW2SRV_DAMP is a good starting point.
// @Values: 0:Disabled,1:Enabled
// @User: User
GSCALAR(rudder_only, "RUDDER_ONLY", 0),
// @Param: SYS_NUM_RESETS // @Param: SYS_NUM_RESETS
// @DisplayName: Num Resets // @DisplayName: Num Resets
// @Description: Number of APM board resets // @Description: Number of APM board resets

4
ArduPlane/failsafe.pde
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@ -90,7 +90,9 @@ void failsafe_check(void)
channel_pitch->output(); channel_pitch->output();
} }
channel_throttle->output(); channel_throttle->output();
channel_rudder->output(); if (g.rudder_only == 0) {
channel_rudder->output();
}
// setup secondary output channels that do have // setup secondary output channels that do have
// corresponding input channels // corresponding input channels

6
ArduPlane/radio.pde
View File

@ -8,7 +8,11 @@
*/ */
static void set_control_channels(void) static void set_control_channels(void)
{ {
channel_roll = RC_Channel::rc_channel(rcmap.roll()-1); if (g.rudder_only) {
channel_roll = RC_Channel::rc_channel(rcmap.yaw()-1);
} else {
channel_roll = RC_Channel::rc_channel(rcmap.roll()-1);
}
channel_pitch = RC_Channel::rc_channel(rcmap.pitch()-1); channel_pitch = RC_Channel::rc_channel(rcmap.pitch()-1);
channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1); channel_throttle = RC_Channel::rc_channel(rcmap.throttle()-1);
channel_rudder = RC_Channel::rc_channel(rcmap.yaw()-1); channel_rudder = RC_Channel::rc_channel(rcmap.yaw()-1);