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Plane: Add TRIM_PITCH_CD FLIGHT_OPTIONS bits for GCS and OSD

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This commit is contained in:
TunaLobster 2021-07-26 19:07:27 -05:00 committed by Andrew Tridgell
parent 4b67490fca
commit d31f3eb4c5
4 changed files with 10 additions and 4 deletions
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4
ArduPlane/ArduPlane.cpp
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@ -700,9 +700,9 @@ void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
{
pitch = ahrs.pitch;
roll = ahrs.roll;
if (!quadplane.show_vtol_view()) { // correct for TRIM_PITCH_CD
if (!quadplane.show_vtol_view() && !(g2.flight_options & FlightOptions::OSD_REMOVE_TRIM_PITCH_CD)) { // correct for TRIM_PITCH_CD
pitch -= g.pitch_trim_cd * 0.01 * DEG_TO_RAD;
} else {
} else if (!quadplane.show_vtol_view()) {
pitch = quadplane.ahrs_view->pitch;
roll = quadplane.ahrs_view->roll;
}

6
ArduPlane/GCS_Mavlink.cpp
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@ -114,8 +114,12 @@ void GCS_MAVLINK_Plane::send_attitude() const
const AP_AHRS &ahrs = AP::ahrs();
float r = ahrs.roll;
float p = ahrs.pitch - radians(plane.g.pitch_trim_cd*0.01f);
float p = ahrs.pitch;
float y = ahrs.yaw;
if (!(plane.g2.flight_options & FlightOptions::GCS_REMOVE_TRIM_PITCH_CD)) {
p -= radians(plane.g.pitch_trim_cd * 0.01f);
}
if (plane.quadplane.show_vtol_view()) {
r = plane.quadplane.ahrs_view->roll;

2
ArduPlane/Parameters.cpp
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@ -1105,7 +1105,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: FLIGHT_OPTIONS
// @DisplayName: Flight mode options
// @Description: Flight mode specific options
// @Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor, 7:EnableDefaultAirspeed for takeoff
// @Bitmask: 0:Rudder mixing in direct flight modes only (Manual / Stabilize / Acro),1:Use centered throttle in Cruise or FBWB to indicate trim airspeed, 2:Disable attitude check for takeoff arming, 3:Force target airspeed to trim airspeed in Cruise or FBWB, 4: Climb to ALT_HOLD_RTL before turning for RTL, 5: Enable yaw damper in acro mode, 6: Surpress speed scaling during auto takeoffs to be 1 or less to prevent oscillations without airpseed sensor., 7:EnableDefaultAirspeed for takeoff, 8: Remove the TRIM_PITCH_CD on the GCS horizon, 9: Remove the TRIM_PITCH_CD on the OSD horizon
// @User: Advanced
AP_GROUPINFO("FLIGHT_OPTIONS", 13, ParametersG2, flight_options, 0),

2
ArduPlane/defines.h
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@ -161,6 +161,8 @@ enum FlightOptions {
ACRO_YAW_DAMPER = (1 << 5),
SURPRESS_TKOFF_SCALING = (1<<6),
ENABLE_DEFAULT_AIRSPEED = (1<<7),
GCS_REMOVE_TRIM_PITCH_CD = (1 << 8),
OSD_REMOVE_TRIM_PITCH_CD = (1 << 9),
};
enum CrowFlapOptions {