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AP_Soaring: Make enable channel 3 position. PWM above 1400us allows most soaring features, but above 1700us is required before any automatic switch to LOITER mode.

This commit is contained in:
Samuel Tabor 2019-04-24 13:36:36 +01:00 committed by Andrew Tridgell
parent 1160c59a89
commit ff1725b549
1 changed files with 6 additions and 3 deletions
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9
libraries/AP_Soaring/AP_Soaring.cpp
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@ -179,11 +179,14 @@ bool SoaringController::suppress_throttle()
bool SoaringController::check_thermal_criteria()
{
bool thermalling_allowed = soar_active_ch>0 ? RC_Channels::get_radio_in(soar_active_ch-1) >= 1700 : true;
return (soar_active
&& ((AP_HAL::micros64() - _cruise_start_time_us) > ((unsigned)min_cruise_s * 1e6))
&& (_vario.filtered_reading - _vario.get_exp_thermalling_sink()) > thermal_vspeed
&& _vario.alt < alt_max
&& _vario.alt > alt_min);
&& _vario.alt > alt_min
&& thermalling_allowed);
}
@ -348,8 +351,8 @@ bool SoaringController::is_active() const
// no activation channel
return true;
}
// active when above 1700
return RC_Channels::get_radio_in(soar_active_ch-1) >= 1700;
// active when above 1400
return RC_Channels::get_radio_in(soar_active_ch-1) >= 1400;
}
void SoaringController::set_throttle_suppressed(bool suppressed)