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Plane: make it more obvious that AUTO_FBW_STEER is not for normal use

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This commit is contained in:
Andrew Tridgell 2016-04-06 07:58:23 +10:00
parent 2c4aaf7cb3
commit 97a7192f76
3 changed files with 5 additions and 5 deletions
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2
ArduPlane/ArduPlane.cpp
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@ -534,7 +534,7 @@ void Plane::handle_auto_mode(void)
void Plane::update_flight_mode(void) void Plane::update_flight_mode(void)
{ {
enum FlightMode effective_mode = control_mode; enum FlightMode effective_mode = control_mode;
if (control_mode == AUTO && g.auto_fbw_steer) { if (control_mode == AUTO && g.auto_fbw_steer == 42) {
effective_mode = FLY_BY_WIRE_A; effective_mode = FLY_BY_WIRE_A;
} }

4
ArduPlane/Attitude.cpp
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@ -168,7 +168,7 @@ void Plane::stabilize_stick_mixing_fbw()
control_mode == QLOITER || control_mode == QLOITER ||
control_mode == QLAND || control_mode == QLAND ||
control_mode == TRAINING || control_mode == TRAINING ||
(control_mode == AUTO && g.auto_fbw_steer)) { (control_mode == AUTO && g.auto_fbw_steer == 42)) {
return; return;
} }
// do FBW style stick mixing. We don't treat it linearly // do FBW style stick mixing. We don't treat it linearly
@ -594,7 +594,7 @@ bool Plane::suppress_throttle(void)
return false; return false;
} }
if (control_mode==AUTO && g.auto_fbw_steer) { if (control_mode==AUTO && g.auto_fbw_steer == 42) {
// user has throttle control // user has throttle control
return false; return false;
} }

4
ArduPlane/Parameters.cpp
View File

@ -131,8 +131,8 @@ const AP_Param::Info Plane::var_info[] = {
// @Param: AUTO_FBW_STEER // @Param: AUTO_FBW_STEER
// @DisplayName: Use FBWA steering in AUTO // @DisplayName: Use FBWA steering in AUTO
// @Description: When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. This option is not recommended for normal use. // @Description: When enabled this option gives FBWA navigation and steering in AUTO mode. This can be used to allow manual stabilised piloting with waypoint logic for triggering payloads. With this enabled the pilot has the same control over the plane as in FBWA mode, and the normal AUTO navigation is completely disabled. THIS OPTION IS NOT RECOMMENDED FOR NORMAL USE.
// @Values: 0:Disabled,1:Enabled // @Values: 0:Disabled,42:Enabled
// @User: Advanced // @User: Advanced
GSCALAR(auto_fbw_steer, "AUTO_FBW_STEER", 0), GSCALAR(auto_fbw_steer, "AUTO_FBW_STEER", 0),