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Plane: added Q_YAW_RATE_MAX parameter

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This commit is contained in:
Andrew Tridgell 2016-01-02 15:25:49 +11:00
parent f5a15fb7c5
commit f259cf4b3f
2 changed files with 18 additions and 3 deletions
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18
ArduPlane/quadplane.cpp
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@ -286,6 +286,15 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
// @Increment: 0.1 // @Increment: 0.1
// @User: Standard // @User: Standard
AP_GROUPINFO("ASSIST_SPEED", 24, QuadPlane, assist_speed, 0), AP_GROUPINFO("ASSIST_SPEED", 24, QuadPlane, assist_speed, 0),
// @Param: YAW_RATE_MAX
// @DisplayName: Maximum yaw rate
// @Description: This is the maximum yaw rate in degrees/second
// @Units: degrees/second
// @Range: 50 500
// @Increment: 1
// @User: Standard
AP_GROUPINFO("YAW_RATE_MAX", 25, QuadPlane, yaw_rate_max, 100),
AP_GROUPEND AP_GROUPEND
}; };
@ -542,16 +551,19 @@ void QuadPlane::control_loiter()
*/ */
float QuadPlane::get_pilot_desired_yaw_rate_cds(void) float QuadPlane::get_pilot_desired_yaw_rate_cds(void)
{ {
float yaw_cds = 0;
if (assisted_flight) { if (assisted_flight) {
// use bank angle to get desired yaw rate // use bank angle to get desired yaw rate
return desired_yaw_rate_cds(); yaw_cds += desired_yaw_rate_cds();
} }
if (plane.channel_throttle->control_in <= 0) { if (plane.channel_throttle->control_in <= 0) {
// the user may be trying to disarm // the user may be trying to disarm
return 0; return 0;
} }
const float yaw_rate_max_dps = 100;
return plane.channel_rudder->norm_input() * 100 * yaw_rate_max_dps; // add in rudder input
yaw_cds += plane.channel_rudder->norm_input() * 100 * yaw_rate_max;
return yaw_cds;
} }
// get pilot desired climb rate in cm/s // get pilot desired climb rate in cm/s

3
ArduPlane/quadplane.h
View File

@ -125,6 +125,9 @@ private:
// speed below which quad assistance is given // speed below which quad assistance is given
AP_Float assist_speed; AP_Float assist_speed;
// maximum yaw rate in degrees/second
AP_Float yaw_rate_max;
AP_Int8 enable; AP_Int8 enable;
bool initialised; bool initialised;