mirror of https://github.com/ArduPilot/ardupilot
121 lines
3.8 KiB
C++
121 lines
3.8 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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reverse thrust support functions
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*/
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#include "Plane.h"
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/*
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see if reverse thrust should be allowed in the current flight state
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*/
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bool Plane::allow_reverse_thrust(void) const
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{
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// check if we should allow reverse thrust
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bool allow = false;
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if (g.use_reverse_thrust == USE_REVERSE_THRUST_NEVER || !have_reverse_thrust()) {
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return false;
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}
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switch (control_mode->mode_number()) {
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case Mode::Number::AUTO:
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{
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uint16_t nav_cmd = mission.get_current_nav_cmd().id;
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// never allow reverse thrust during takeoff
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if (nav_cmd == MAV_CMD_NAV_TAKEOFF) {
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return false;
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}
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// always allow regardless of mission item
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_ALWAYS);
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// landing
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LAND_APPROACH) &&
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(nav_cmd == MAV_CMD_NAV_LAND);
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// LOITER_TO_ALT
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LOITER_TO_ALT) &&
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(nav_cmd == MAV_CMD_NAV_LOITER_TO_ALT);
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// any Loiter (including LOITER_TO_ALT)
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LOITER_ALL) &&
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(nav_cmd == MAV_CMD_NAV_LOITER_TIME ||
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nav_cmd == MAV_CMD_NAV_LOITER_TO_ALT ||
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nav_cmd == MAV_CMD_NAV_LOITER_TURNS ||
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nav_cmd == MAV_CMD_NAV_LOITER_UNLIM);
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// waypoints
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_WAYPOINT) &&
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(nav_cmd == MAV_CMD_NAV_WAYPOINT ||
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nav_cmd == MAV_CMD_NAV_SPLINE_WAYPOINT);
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}
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break;
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case Mode::Number::LOITER:
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_LOITER);
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break;
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case Mode::Number::RTL:
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_RTL);
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break;
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case Mode::Number::CIRCLE:
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_CIRCLE);
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break;
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case Mode::Number::CRUISE:
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_CRUISE);
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break;
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case Mode::Number::FLY_BY_WIRE_B:
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_FBWB);
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break;
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case Mode::Number::AVOID_ADSB:
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case Mode::Number::GUIDED:
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_GUIDED);
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break;
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default:
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// all other control_modes are auto_throttle_mode=false.
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// If we are not controlling throttle, don't limit it.
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allow = true;
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break;
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}
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return allow;
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}
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/*
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return true if we are configured to support reverse thrust
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*/
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bool Plane::have_reverse_thrust(void) const
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{
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return aparm.throttle_min < 0;
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}
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/*
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return control in from the radio throttle channel.
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*/
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int16_t Plane::get_throttle_input(bool no_deadzone) const
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{
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int16_t ret;
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if (no_deadzone) {
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ret = channel_throttle->get_control_in_zero_dz();
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} else {
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ret = channel_throttle->get_control_in();
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}
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if (reversed_throttle) {
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// RC option for reverse throttle has been set
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ret = -ret;
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}
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return ret;
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}
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