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Plane: add parameter RUDD_DT_GAIN for dual motor tailsitter

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controls rudder to differential thrust mixing in FW mode
This commit is contained in:
Mark Whitehorn 2017-04-04 21:37:49 -06:00 committed by Andrew Tridgell
parent a0cb34db57
commit 7679b758b0
4 changed files with 15 additions and 1 deletions
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9
ArduPlane/Parameters.cpp
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@ -1217,6 +1217,15 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Path: ../libraries/AP_Soaring/AP_Soaring.cpp
AP_SUBGROUPINFO(soaring_controller, "SOAR_", 8, ParametersG2, SoaringController),
// @Param: RUDD_DT_GAIN
// @DisplayName: rudder differential thrust gain
// @Description: gain control from rudder to differential thrust
// @Range: 0 100
// @Units: Percent
// @Increment: 1
// @User: Standard
AP_GROUPINFO("RUDD_DT_GAIN", 9, ParametersG2, rudd_dt_gain, 10),
AP_GROUPEND
};

3
ArduPlane/Parameters.h
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@ -545,6 +545,9 @@ public:
// ArduSoar parameters
SoaringController soaring_controller;
// dual motor tailsitter rudder to differential thrust scaling: 0-100%
AP_Int8 rudd_dt_gain;
};
extern const AP_Param::Info var_info[];

1
ArduPlane/quadplane.cpp
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@ -399,6 +399,7 @@ static const struct defaults_struct defaults_table_tailsitter[] = {
{ "LIM_PITCH_MAX", 3000 },
{ "LIM_PITCH_MIN", -3000 },
{ "MIXING_GAIN", 1.0 },
{ "RUDD_DT_GAIN", 10 },
};
QuadPlane::QuadPlane(AP_AHRS_NavEKF &_ahrs) :

3
ArduPlane/servos.cpp
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@ -622,7 +622,8 @@ void Plane::servo_output_mixers(void)
void Plane::servos_twin_engine_mix(void)
{
float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
float rudder = SRV_Channels::get_output_scaled(SRV_Channel::k_rudder) / float(SERVO_MAX);
float rud_gain = float(plane.g2.rudd_dt_gain) / 100;
float rudder = rud_gain * SRV_Channels::get_output_scaled(SRV_Channel::k_rudder) / float(SERVO_MAX);
float throttle_left, throttle_right;
if (throttle < 0 && aparm.throttle_min < 0) {