Plane: added TKOFF_FLAP_PCNT and LAND_FLAP_PERCENT

easier control of flaps for takeoff and landing

ArduPlane/Attitude.pde

@@ -843,6 +843,25 @@ static void set_servos(void)
         } else {
             auto_flap_percent = g.flap_1_percent;
         }
+
+        /*
+          special flap levels for takeoff and landing. This works
+          better than speed based flaps as it leads to less
+          possibility of oscillation
+         */
+        if (control_mode == AUTO) {
+            switch (flight_stage) {
+            case AP_SpdHgtControl::FLIGHT_TAKEOFF:
+                auto_flap_percent = g.takeoff_flap_percent;
+                break;
+            case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
+            case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
+                auto_flap_percent = g.land_flap_percent;
+                break;
+            default:
+                break;
+            }
+        }
     }
 
     // manual flap input overrides auto flap input

ArduPlane/Parameters.h

@@ -124,6 +124,8 @@ public:
         k_param_terrain_lookahead,
         k_param_fbwa_tdrag_chan,
         k_param_rangefinder_landing,
+        k_param_land_flap_percent,
+        k_param_takeoff_flap_percent,
 
         // 100: Arming parameters
         k_param_arming = 100,
@@ -438,6 +440,8 @@ public:
     AP_Int8 flap_1_speed;
     AP_Int8 flap_2_percent;
     AP_Int8 flap_2_speed;
+    AP_Int8 land_flap_percent;
+    AP_Int8 takeoff_flap_percent;
     AP_Int8 rssi_pin;
     AP_Float rssi_range;             // allows to set max voltage for rssi pin such as 5.0, 3.3 etc.     
     AP_Int8 inverted_flight_ch;             // 0=disabled, 1-8 is channel for inverted flight trigger

ArduPlane/Parameters.pde

@@ -206,6 +206,14 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: User
     GSCALAR(takeoff_throttle_slewrate, "TKOFF_THR_SLEW",  0),
 
+    // @Param: TKOFF_FLAP_PCNT
+    // @DisplayName: Takeoff flap percentage
+    // @Description: The amount of flaps (as a percentage) to apply in automatic takeoff
+    // @Range: 0 100
+    // @Units: Percent
+    // @User: Advanced
+    GSCALAR(takeoff_flap_percent,     "TKOFF_FLAP_PCNT", 0),
+
     // @Param: FBWA_TDRAG_CHAN
     // @DisplayName: FBWA taildragger channel
     // @Description: This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. Setting it to 0 disables this option.
@@ -849,6 +857,14 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Advanced
     GSCALAR(flap_2_speed,           "FLAP_2_SPEED",   FLAP_2_SPEED),
 
+    // @Param: LAND_FLAP_PERCNT
+    // @DisplayName: Landing flap percentage
+    // @Description: The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing
+    // @Range: 0 100
+    // @Units: Percent
+    // @User: Advanced
+    GSCALAR(land_flap_percent,     "LAND_FLAP_PERCNT", 0),
+
     // @Param: RSSI_PIN
     // @DisplayName: Receiver RSSI sensing pin
     // @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum