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Plane: add LAND_THR_SLEW

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This commit is contained in:
Tom Pittenger 2016-02-23 14:46:00 -08:00
parent ed6aa4ed17
commit 75be40ea59
3 changed files with 18 additions and 2 deletions
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9
ArduPlane/Attitude.cpp
View File

@ -522,8 +522,13 @@ void Plane::calc_nav_roll()
void Plane::throttle_slew_limit(int16_t last_throttle)
{
uint8_t slewrate = aparm.throttle_slewrate;
if (control_mode==AUTO && auto_state.takeoff_complete == false && g.takeoff_throttle_slewrate != 0) {
slewrate = g.takeoff_throttle_slewrate;
if (control_mode==AUTO) {
if (auto_state.takeoff_complete == false && g.takeoff_throttle_slewrate != 0) {
slewrate = g.takeoff_throttle_slewrate;
} else if (g.land_throttle_slewrate != 0 &&
(flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH || flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL || flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE)) {
slewrate = g.land_throttle_slewrate;
}
}
// if slew limit rate is set to zero then do not slew limit
if (slewrate) {

9
ArduPlane/Parameters.cpp
View File

@ -198,6 +198,15 @@ const AP_Param::Info Plane::var_info[] = {
// @User: User
GSCALAR(takeoff_throttle_slewrate, "TKOFF_THR_SLEW", 0),
// @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

2
ArduPlane/Parameters.h
View File

@ -148,6 +148,7 @@ public:
k_param_parachute_channel,
k_param_crash_accel_threshold,
k_param_override_safety,
k_param_land_throttle_slewrate, // 104
// 105: Extra parameters
k_param_fence_retalt = 105,
@ -492,6 +493,7 @@ public:
AP_Float takeoff_tdrag_speed1;
AP_Float takeoff_rotate_speed;
AP_Int8 takeoff_throttle_slewrate;
AP_Int8 land_throttle_slewrate;
AP_Int8 level_roll_limit;
AP_Int8 flapin_channel;
AP_Int8 flaperon_output;