Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: added optional ground effect compensation for quadplanes

Browse Source 
this allows for landings in aircraft badly effected by ground effect
to be compensated for
This commit is contained in:
Andrew Tridgell 2020-09-23 07:05:38 +10:00
parent 60951a7891
commit eea62bf733
2 changed files with 13 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
ArduPlane/quadplane.cpp
View File

@ -329,7 +329,7 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Param: OPTIONS // @Param: OPTIONS
// @DisplayName: quadplane options // @DisplayName: quadplane options
// @Description: Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command's reference frame rather than a delta above current location, Use FW Approach:Use a fixed wing approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming. // @Description: Level Transition:Keep wings within LEVEL_ROLL_LIMIT and only use forward motor(s) for climb during transition, Allow FW Takeoff: If bit is not set then NAV_TAKEOFF command on quadplanes will instead perform a NAV_VTOL takeoff, Allow FW Land:If bit is not set then NAV_LAND command on quadplanes will instead perform a NAV_VTOL_LAND, Vtol Takeoff Frame: command NAV_VTOL_TAKEOFF altitude is as set by the command's reference frame rather than a delta above current location, Use FW Approach:Use a fixed wing approach for VTOL landings, USE QRTL:instead of QLAND for rc failsafe when in VTOL modes, Use Governor:Use ICE Idle Governor in MANUAL for forward motor, Force Qassist: on always,Mtrs_Only_Qassist: in tailsitters only, uses VTOL motors and not flying surfaces for QASSIST, Airmode_On_Arm:Airmode enabled when arming by aux switch, Disarmed Yaw Tilt:Enable motor tilt for yaw when disarmed, Delay Spoolup:Delay VTOL spoolup for 2 seconds after arming.
// @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Use FW Approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,9:Airmode_On_Arm,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed // @Bitmask: 0:Level Transition,1:Allow FW Takeoff,2:Allow FW Land,3:Vtol Takeoff Frame,4:Use FW Approach,5:Use QRTL,6:Use Governor,7:Force Qassist,8:Mtrs_Only_Qassist,9:Airmode_On_Arm,10:Disarmed Yaw Tilt,11:Delay Spoolup,12:disable Qassist based on synthetic airspeed,13:Disable Ground Effect Compensation
AP_GROUPINFO("OPTIONS", 58, QuadPlane, options, 0), AP_GROUPINFO("OPTIONS", 58, QuadPlane, options, 0),
AP_SUBGROUPEXTENSION("",59, QuadPlane, var_info2), AP_SUBGROUPEXTENSION("",59, QuadPlane, var_info2),
@ -2462,6 +2462,9 @@ void QuadPlane::vtol_position_controller(void)
case QPOS_LAND_FINAL: case QPOS_LAND_FINAL:
pos_control->set_alt_target_from_climb_rate(-land_speed_cms, plane.G_Dt, true); pos_control->set_alt_target_from_climb_rate(-land_speed_cms, plane.G_Dt, true);
if ((options & OPTION_DISABLE_GROUND_EFFECT_COMP) == 0) {
ahrs.setTouchdownExpected(true);
}
break; break;
case QPOS_LAND_COMPLETE: case QPOS_LAND_COMPLETE:
@ -2749,6 +2752,11 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
takeoff_start_time_ms = now; takeoff_start_time_ms = now;
} }
if (now - takeoff_start_time_ms < 3000 &&
(options & OPTION_DISABLE_GROUND_EFFECT_COMP) == 0) {
ahrs.setTakeoffExpected(true);
}
// check for failure conditions // check for failure conditions
if (is_positive(takeoff_failure_scalar) && ((now - takeoff_start_time_ms) > takeoff_time_limit_ms)) { if (is_positive(takeoff_failure_scalar) && ((now - takeoff_start_time_ms) > takeoff_time_limit_ms)) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Failed to complete takeoff within time limit"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Failed to complete takeoff within time limit");
@ -3210,6 +3218,9 @@ bool QuadPlane::do_user_takeoff(float takeoff_altitude)
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
guided_start(); guided_start();
guided_takeoff = true; guided_takeoff = true;
if ((options & OPTION_DISABLE_GROUND_EFFECT_COMP) == 0) {
ahrs.setTakeoffExpected(true);
}
return true; return true;
} }

1
ArduPlane/quadplane.h
View File

@ -572,6 +572,7 @@ private:
OPTION_DISARMED_TILT=(1<<10), OPTION_DISARMED_TILT=(1<<10),
OPTION_DELAY_ARMING=(1<<11), OPTION_DELAY_ARMING=(1<<11),
OPTION_DISABLE_SYNTHETIC_AIRSPEED_ASSIST=(1<<12), OPTION_DISABLE_SYNTHETIC_AIRSPEED_ASSIST=(1<<12),
OPTION_DISABLE_GROUND_EFFECT_COMP=(1<<13),
}; };
AP_Float takeoff_failure_scalar; AP_Float takeoff_failure_scalar;