aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Plane: Migrate the rest of "LAND_" params from Plane to AP_Landing

Browse Source
This commit is contained in:
Tom Pittenger 2016-11-23 02:00:29 -08:00 committed by Tom Pittenger
parent d53b177877
commit 6544afbcba
2 changed files with 10 additions and 50 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

45
ArduPlane/Parameters.cpp
View File

@ -205,15 +205,6 @@ const AP_Param::Info Plane::var_info[] = {
// @User: Advanced
GSCALAR(takeoff_pitch_limit_reduction_sec, "TKOFF_PLIM_SEC", 2),
// @Param: LAND_THR_SLEW
// @DisplayName: Landing throttle slew rate
// @Description: This parameter sets the slew rate for the throttle during auto landing. When this is zero the THR_SLEWRATE parameter is used during landing. The value is a percentage throttle change per second, so a value of 20 means to advance the throttle over 5 seconds on landing. Values below 50 are not recommended as it may cause a stall when airspeed is low and you can not throttle up fast enough.
// @Units: percent
// @Range: 0 127
// @Increment: 1
// @User: User
GSCALAR(land_throttle_slewrate, "LAND_THR_SLEW", 0),
// @Param: TKOFF_FLAP_PCNT
// @DisplayName: Takeoff flap percentage
// @Description: The amount of flaps (as a percentage) to apply in automatic takeoff
@ -244,29 +235,6 @@ const AP_Param::Info Plane::var_info[] = {
// @User: Advanced
GSCALAR(use_reverse_thrust, "USE_REV_THRUST", USE_REVERSE_THRUST_AUTO_LAND_APPROACH),
// @Param: LAND_DISARMDELAY
// @DisplayName: Landing disarm delay
// @Description: After a landing has completed using a LAND waypoint, automatically disarm after this many seconds have passed. Use 0 to not disarm.
// @Units: seconds
// @Increment: 1
// @Range: 0 127
// @User: Advanced
GSCALAR(land_disarm_delay, "LAND_DISARMDELAY", 20),
// @Param: LAND_THEN_NEUTRL
// @DisplayName: Set servos to neutral after landing
// @Description: When enabled, after an autoland and auto-disarm via LAND_DISARMDELAY happens then set all servos to neutral. This is helpful when an aircraft has a rough landing upside down or a crazy angle causing the servos to strain.
// @Values: 0:Disabled, 1:Servos to Neutral, 2:Servos to Zero PWM
// @User: Advanced
GSCALAR(land_then_servos_neutral, "LAND_THEN_NEUTRL", 0),
// @Param: LAND_ABORT_THR
// @DisplayName: Landing abort using throttle
// @Description: Allow a landing abort to trigger with a throttle > 95%
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
GSCALAR(land_abort_throttle_enable, "LAND_ABORT_THR", 0),
// @Param: NAV_CONTROLLER
// @DisplayName: Navigation controller selection
// @Description: Which navigation controller to enable. Currently the only navigation controller available is L1. From time to time other experimental controllers will be added which are selected using this parameter.
@ -928,14 +896,6 @@ const AP_Param::Info Plane::var_info[] = {
// @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),
#if HAVE_PX4_MIXER
// @Param: OVERRIDE_CHAN
// @DisplayName: PX4IO override channel
@ -1392,6 +1352,11 @@ const AP_Param::ConversionInfo conversion_table[] = {
{ Parameters::k_param_land_pre_flare_sec, 0, AP_PARAM_FLOAT, "LAND_PF_SEC" },
{ Parameters::k_param_land_pre_flare_alt, 0, AP_PARAM_FLOAT, "LAND_PF_ALT" },
{ Parameters::k_param_land_pre_flare_airspeed, 0, AP_PARAM_FLOAT, "LAND_PF_ARSPD" },
{ Parameters::k_param_land_throttle_slewrate, 0, AP_PARAM_INT8, "LAND_THR_SLEW" },
{ Parameters::k_param_land_disarm_delay, 0, AP_PARAM_INT8, "LAND_DISARMDELAY" },
{ Parameters::k_param_land_then_servos_neutral,0, AP_PARAM_INT8, "LAND_THEN_NEUTRAL" },
{ Parameters::k_param_land_abort_throttle_enable,0,AP_PARAM_INT8, "LAND_ABORT_THR" },
{ Parameters::k_param_land_flap_percent, 0, AP_PARAM_INT8, "LAND_FLAP_PERCENT" },
};

15
ArduPlane/Parameters.h
View File

@ -125,7 +125,7 @@ public:
k_param_terrain_lookahead,
k_param_fbwa_tdrag_chan,
k_param_rangefinder_landing,
k_param_land_flap_percent,
k_param_land_flap_percent, // unused - moved to AP_Landing
k_param_takeoff_flap_percent,
k_param_flap_slewrate,
k_param_rtl_autoland,
@ -135,13 +135,13 @@ public:
k_param_cli_enabled,
k_param_trim_rc_at_start,
k_param_hil_mode,
k_param_land_disarm_delay,
k_param_land_disarm_delay, // unused - moved to AP_Landing
k_param_glide_slope_threshold,
k_param_rudder_only,
k_param_gcs3, // 93
k_param_gcs_pid_mask,
k_param_crash_detection_enable,
k_param_land_abort_throttle_enable,
k_param_land_abort_throttle_enable, // unused - moved to AP_Landing
k_param_rssi = 97,
k_param_rpm_sensor,
k_param_parachute,
@ -149,7 +149,7 @@ public:
k_param_parachute_channel,
k_param_crash_accel_threshold,
k_param_override_safety,
k_param_land_throttle_slewrate, // 104
k_param_land_throttle_slewrate, // 104 unused - moved to AP_Landing
// 105: Extra parameters
k_param_fence_retalt = 105,
@ -288,7 +288,7 @@ public:
k_param_scaling_speed,
k_param_quadplane,
k_param_rtl_radius,
k_param_land_then_servos_neutral,
k_param_land_then_servos_neutral, // unused - moved to AP_Landing
k_param_rc_15,
k_param_rc_16,
@ -473,9 +473,6 @@ public:
AP_Int8 reset_switch_chan;
AP_Int8 reset_mission_chan;
AP_Int32 RTL_altitude_cm;
AP_Int8 land_disarm_delay;
AP_Int8 land_then_servos_neutral;
AP_Int8 land_abort_throttle_enable;
AP_Int16 pitch_trim_cd;
AP_Int16 FBWB_min_altitude_cm;
AP_Int8 hil_servos;
@ -488,7 +485,6 @@ 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 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
AP_Int8 stick_mixing;
@ -500,7 +496,6 @@ public:
AP_Float takeoff_rotate_speed;
AP_Int8 takeoff_throttle_slewrate;
AP_Float takeoff_pitch_limit_reduction_sec;
AP_Int8 land_throttle_slewrate;
AP_Int8 level_roll_limit;
AP_Int8 flapin_channel;
AP_Int8 flaperon_output;