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Plane: Use tecs to control the throttle during takeoff

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Michael du Breuil 2015-04-15 15:54:06 -07:00 committed by Andrew Tridgell
parent 04e9141881
commit 78a3ce46b9
5 changed files with 8 additions and 16 deletions
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5
ArduPlane/ArduPlane.pde
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@ -1195,9 +1195,8 @@ static void handle_auto_mode(void)
case MAV_CMD_NAV_TAKEOFF: case MAV_CMD_NAV_TAKEOFF:
takeoff_calc_roll(); takeoff_calc_roll();
takeoff_calc_pitch(); takeoff_calc_pitch();
calc_throttle();
// max throttle for takeoff
channel_throttle->servo_out = takeoff_throttle();
break; break;
case MAV_CMD_NAV_LAND: case MAV_CMD_NAV_LAND:

6
ArduPlane/Attitude.pde
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@ -805,7 +805,11 @@ static void set_servos(void)
min_throttle = 0; min_throttle = 0;
} }
if (control_mode == AUTO && flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF) { if (control_mode == AUTO && flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF) {
max_throttle = takeoff_throttle(); if(aparm.takeoff_throttle_max != 0) {
max_throttle = aparm.takeoff_throttle_max;
} else {
max_throttle = aparm.throttle_max;
}
} }
channel_throttle->servo_out = constrain_int16(channel_throttle->servo_out, channel_throttle->servo_out = constrain_int16(channel_throttle->servo_out,
min_throttle, min_throttle,

1
ArduPlane/Parameters.h
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@ -464,7 +464,6 @@ public:
AP_Float takeoff_tdrag_speed1; AP_Float takeoff_tdrag_speed1;
AP_Float takeoff_rotate_speed; AP_Float takeoff_rotate_speed;
AP_Int8 takeoff_throttle_slewrate; AP_Int8 takeoff_throttle_slewrate;
AP_Int8 takeoff_throttle_max;
AP_Int8 level_roll_limit; AP_Int8 level_roll_limit;
AP_Int8 flapin_channel; AP_Int8 flapin_channel;
AP_Int8 flaperon_output; AP_Int8 flaperon_output;

2
ArduPlane/Parameters.pde
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@ -453,7 +453,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Range: 0 100 // @Range: 0 100
// @Increment: 1 // @Increment: 1
// @User: Advanced // @User: Advanced
GSCALAR(takeoff_throttle_max, "TKOFF_THR_MAX", 0), ASCALAR(takeoff_throttle_max, "TKOFF_THR_MAX", 0),
// @Param: THR_SLEWRATE // @Param: THR_SLEWRATE
// @DisplayName: Throttle slew rate // @DisplayName: Throttle slew rate

10
ArduPlane/takeoff.pde
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@ -170,13 +170,3 @@ return_zero:
return 0; return 0;
} }
/*
return throttle percentage for takeoff
*/
static uint8_t takeoff_throttle(void)
{
if (g.takeoff_throttle_max != 0) {
return g.takeoff_throttle_max;
}
return aparm.throttle_max;
}