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Plane: set_servos_controlled: rework throttle output

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Iampete1 2023-11-30 22:16:03 +00:00 committed by Andrew Tridgell
parent 24bf288e28
commit 4ac9eb9509
1 changed files with 14 additions and 8 deletions
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22
ArduPlane/servos.cpp
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@ -516,9 +516,6 @@ void Plane::set_servos_controlled(void)
throttle_watt_limiter(min_throttle, max_throttle); throttle_watt_limiter(min_throttle, max_throttle);
#endif #endif
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,
constrain_float(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle), min_throttle, max_throttle));
if (!arming.is_armed_and_safety_off()) { if (!arming.is_armed_and_safety_off()) {
// Always set 0 scaled even if overriding to zero pwm. // Always set 0 scaled even if overriding to zero pwm.
// This ensures slew limits and other functions using the scaled value pick up in the correct place // This ensures slew limits and other functions using the scaled value pick up in the correct place
@ -532,14 +529,18 @@ void Plane::set_servos_controlled(void)
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM); SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
} }
} else if (suppress_throttle()) { } else if (suppress_throttle()) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0); // default
// throttle is suppressed (above) to zero in final flare in auto mode, but we allow instead thr_min if user prefers, eg turbines:
if (landing.is_flaring() && landing.use_thr_min_during_flare() ) {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, aparm.throttle_min.get());
}
if (g.throttle_suppress_manual) { if (g.throttle_suppress_manual) {
// manual pass through of throttle while throttle is suppressed // manual pass through of throttle while throttle is suppressed
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true)); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));
} else if (landing.is_flaring() && landing.use_thr_min_during_flare() ) {
// throttle is suppressed (above) to zero in final flare in auto mode, but we allow instead thr_min if user prefers, eg turbines:
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, aparm.throttle_min.get());
} else {
// default
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0);
} }
#if AP_SCRIPTING_ENABLED #if AP_SCRIPTING_ENABLED
} else if (nav_scripting_active()) { } else if (nav_scripting_active()) {
@ -575,6 +576,11 @@ void Plane::set_servos_controlled(void)
} }
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, fwd_thr);
#endif // HAL_QUADPLANE_ENABLED #endif // HAL_QUADPLANE_ENABLED
} else {
// Apply min/max limits to throttle output from flight mode
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle,
constrain_float(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle), min_throttle, max_throttle));
} }
} }