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AP_Airspeed: added ARSPD_USE=2 for gliders

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Andrew Tridgell 2017-04-29 16:53:39 +10:00 committed by Tom Pittenger
parent 21b8d3cb3d
commit 7b73004882
2 changed files with 18 additions and 5 deletions
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19
libraries/AP_Airspeed/AP_Airspeed.cpp
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@ -22,6 +22,7 @@
#include <AP_HAL/I2CDevice.h>
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS.h>
#include <SRV_Channel/SRV_Channel.h>
#include <utility>
#include "AP_Airspeed.h"
#include "AP_Airspeed_MS4525.h"
@ -58,8 +59,8 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
// @Param: USE
// @DisplayName: Airspeed use
// @Description: use airspeed for flight control
// @Values: 1:Use,0:Don't Use
// @Description: use airspeed for flight control. When set to 0 airspeed sensor can be logged and displayed on a GCS but won't be used for flight. When set to 1 it will be logged and used. When set to 2 it will be only used when the throttle is zero, which can be useful in gliders with airspeed sensors behind a propeller
// @Values: 0:Don't Use,1:use,2:UseWhenZeroThrottle
// @User: Standard
AP_GROUPINFO("USE", 1, AP_Airspeed, _use, 0),
@ -292,3 +293,17 @@ void AP_Airspeed::setHIL(float airspeed, float diff_pressure, float temperature)
_hil_set = true;
_healthy = true;
}
bool AP_Airspeed::use(void) const
{
if (!enabled() || !_use) {
return false;
}
if (_use == 2 && SRV_Channels::get_output_scaled(SRV_Channel::k_throttle) != 0) {
// special case for gliders with airspeed sensors behind the
// propeller. Allow airspeed to be disabled when throttle is
// running
return false;
}
return true;
}

4
libraries/AP_Airspeed/AP_Airspeed.h
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@ -75,9 +75,7 @@ public:
}
// return true if airspeed is enabled, and airspeed use is set
bool use(void) const {
return enabled() && _use;
}
bool use(void) const;
// return true if airspeed is enabled
bool enabled(void) const {