aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

ArduPlane: add RC option for landing flare

Browse Source
This commit is contained in:
Hwurzburg 2020-10-02 19:52:56 -05:00 committed by Andrew Tridgell
parent a7a780ec6e
commit b61ee34b6b
5 changed files with 65 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduPlane/Attitude.cpp
View File

@ -123,6 +123,12 @@ void Plane::stabilize_pitch(float speed_scaler)
if (control_mode == &mode_stabilize && channel_pitch->get_control_in() != 0) {
disable_integrator = true;
}
// if LANDING_FLARE RCx_OPTION switch is set and in FW mode, manual throttle,throttle idle then set pitch to LAND_PITCH_CD
if (!quadplane.in_transition() && !control_mode->is_vtol_mode() && channel_throttle->in_trim_dz() && !auto_throttle_mode && flare_switch_active) {
demanded_pitch = landing.get_pitch_cd();
}
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, pitchController.get_servo_out(demanded_pitch - ahrs.pitch_sensor,
speed_scaler,
disable_integrator));

3
ArduPlane/Plane.h
View File

@ -1050,6 +1050,7 @@ private:
void servos_output(void);
void servos_auto_trim(void);
void servos_twin_engine_mix();
void force_flare();
void throttle_voltage_comp(int8_t &min_throttle, int8_t &max_throttle);
void throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle);
void throttle_slew_limit(SRV_Channel::Aux_servo_function_t func);
@ -1128,6 +1129,8 @@ private:
CrowMode crow_mode = CrowMode::NORMAL;
bool flare_switch_active;
public:
void failsafe_check(void);
bool set_target_location(const Location& target_loc) override;

22
ArduPlane/RC_Channel.cpp
View File

@ -116,6 +116,23 @@ void RC_Channel_Plane::do_aux_function_soaring_3pos(AuxSwitchPos ch_flag)
plane.g2.soaring_controller.set_pilot_desired_state(desired_state);
#endif
}
void RC_Channel_Plane::do_aux_function_flare(AuxSwitchPos ch_flag)
{
switch(ch_flag) {
case AuxSwitchPos::HIGH:
plane.flare_switch_active = true;
plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_DISABLED);
break;
case AuxSwitchPos::MIDDLE:
break;
case AuxSwitchPos::LOW:
plane.quadplane.set_q_assist_state(plane.quadplane.Q_ASSIST_STATE_ENUM::Q_ASSIST_ENABLED);
plane.flare_switch_active = false;
break;
}
}
void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
const RC_Channel::AuxSwitchPos ch_flag)
{
@ -131,6 +148,7 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::aux_func_t ch_option,
case AUX_FUNC::RTL:
case AUX_FUNC::TAKEOFF:
case AUX_FUNC::FWD_THR:
case AUX_FUNC::LANDING_FLARE:
break;
case AUX_FUNC::Q_ASSIST:
@ -257,6 +275,10 @@ void RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const AuxSwit
}
break;
case AUX_FUNC::LANDING_FLARE:
do_aux_function_flare(ch_flag);
break;
default:
RC_Channel::do_aux_function(ch_option, ch_flag);
break;

3
ArduPlane/RC_Channel.h
View File

@ -23,6 +23,9 @@ private:
void do_aux_function_crow_mode(AuxSwitchPos ch_flag);
void do_aux_function_soaring_3pos(AuxSwitchPos ch_flag);
void do_aux_function_flare(AuxSwitchPos ch_flag);
};
class RC_Channels_Plane : public RC_Channels

34
ArduPlane/servos.cpp
View File

@ -727,9 +727,35 @@ void Plane::servos_twin_engine_mix(void)
}
}
/*
Set the flight control servos based on the current calculated values
Set throttle,attitude(in Attitude.cpp), and tilt servos for forced flare by RCx_OPTION switch for landing in FW mode
For Fixed Wind modes with manual throttle control only. Forces tilts up and throttle to THR_MIN.
Throttle stick must be in idle deadzone. This allows non-momentary switch to be used and quick bailouts
for go-arounds. Also helps prevent propstrike after landing with switch release on ground.
*/
void Plane::force_flare(void)
{
if (!quadplane.in_transition() && !control_mode->is_vtol_mode() && !auto_throttle_mode && channel_throttle->in_trim_dz() && flare_switch_active) {
int32_t tilt = -SERVO_MAX; //this is tilts up for a normal tiltrotor
if (quadplane.tilt.tilt_type == QuadPlane::TILT_TYPE_BICOPTER) {
tilt = 0; // this is tilts up for a Bicopter
}
if (quadplane.is_tailsitter()) {
tilt = SERVO_MAX; //this is tilts up for a tailsitter
}
SRV_Channels::set_output_scaled(SRV_Channel::k_motor_tilt, tilt);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorLeft, tilt);
SRV_Channels::set_output_scaled(SRV_Channel::k_tiltMotorRight, tilt);
float throttle_min = MAX(aparm.throttle_min.get(),0); //allows ICE to run if used but accounts for reverse thrust setups
if (arming.is_armed()) { //prevent running motors if unarmed
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, throttle_min);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, throttle_min);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, throttle_min);
}
}
}
/* Set the flight control servos based on the current calculated values
This function operates by first building up output values for
channels using set_servo() and set_radio_out(). Using
@ -885,7 +911,6 @@ void Plane::set_servos(void)
servos_output();
}
/*
run configured output mixer. This takes calculated servo_out values
for each channel and calculates PWM values, then pushes them to
@ -902,6 +927,9 @@ void Plane::servos_output(void)
quadplane.tailsitter_output();
quadplane.tiltrotor_bicopter();
// support forced flare option
force_flare();
// run vtail and elevon mixers
servo_output_mixers();