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Plane: option to immediately climb in AUTO mode (not doing glide slope) 

add comment in Parameters.cpp

Update ArduPlane/altitude.cpp

Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>

clarification in FLIGHT_OPTIONS description

change the comment

param comment change

Update ArduPlane/Parameters.cpp

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
This commit is contained in:
Ep Pravitra 2024-07-24 15:18:42 +07:00 committed by Peter Barker
parent 9acd23d196
commit fe2e75b2a0
3 changed files with 9 additions and 0 deletions
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1
ArduPlane/Parameters.cpp
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@ -1096,6 +1096,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Bitmask: 11: Disable suppression of fixed wing rate gains in ground mode // @Bitmask: 11: Disable suppression of fixed wing rate gains in ground mode
// @Bitmask: 12: Enable FBWB style loiter altitude control // @Bitmask: 12: Enable FBWB style loiter altitude control
// @Bitmask: 13: Indicate takeoff waiting for neutral rudder with flight control surfaces // @Bitmask: 13: Indicate takeoff waiting for neutral rudder with flight control surfaces
// @Bitmask: 14: In AUTO - climb to next waypoint altitude immediately instead of linear climb
// @User: Advanced // @User: Advanced
AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0), AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),

7
ArduPlane/altitude.cpp
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@ -81,6 +81,13 @@ void Plane::setup_glide_slope(void)
break; break;
case Mode::Number::AUTO: case Mode::Number::AUTO:
//climb without doing glide slope if option is enabled
if (!above_location_current(next_WP_loc) && plane.flight_option_enabled(FlightOptions::IMMEDIATE_CLIMB_IN_AUTO)) {
reset_offset_altitude();
break;
}
// we only do glide slide handling in AUTO when above 20m or // we only do glide slide handling in AUTO when above 20m or
// when descending. The 20 meter threshold is arbitrary, and // when descending. The 20 meter threshold is arbitrary, and
// is basically to prevent situations where we try to slowly // is basically to prevent situations where we try to slowly

1
ArduPlane/defines.h
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@ -168,6 +168,7 @@ enum FlightOptions {
DISABLE_GROUND_PID_SUPPRESSION = (1<<11), DISABLE_GROUND_PID_SUPPRESSION = (1<<11),
ENABLE_LOITER_ALT_CONTROL = (1<<12), ENABLE_LOITER_ALT_CONTROL = (1<<12),
INDICATE_WAITING_FOR_RUDDER_NEUTRAL = (1<<13), INDICATE_WAITING_FOR_RUDDER_NEUTRAL = (1<<13),
IMMEDIATE_CLIMB_IN_AUTO = (1<<14),
}; };
enum CrowFlapOptions { enum CrowFlapOptions {