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Plane: added TKOFF_FLAP_PCNT and LAND_FLAP_PERCENT

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easier control of flaps for takeoff and landing
This commit is contained in:
Andrew Tridgell 2014-08-29 20:10:44 +10:00
parent b94bc0c243
commit f66039c9b4
3 changed files with 39 additions and 0 deletions
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19
ArduPlane/Attitude.pde
View File

@ -843,6 +843,25 @@ static void set_servos(void)
} else {
auto_flap_percent = g.flap_1_percent;
}
/*
special flap levels for takeoff and landing. This works
better than speed based flaps as it leads to less
possibility of oscillation
*/
if (control_mode == AUTO) {
switch (flight_stage) {
case AP_SpdHgtControl::FLIGHT_TAKEOFF:
auto_flap_percent = g.takeoff_flap_percent;
break;
case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
auto_flap_percent = g.land_flap_percent;
break;
default:
break;
}
}
}
// manual flap input overrides auto flap input

4
ArduPlane/Parameters.h
View File

@ -124,6 +124,8 @@ public:
k_param_terrain_lookahead,
k_param_fbwa_tdrag_chan,
k_param_rangefinder_landing,
k_param_land_flap_percent,
k_param_takeoff_flap_percent,
// 100: Arming parameters
k_param_arming = 100,
@ -438,6 +440,8 @@ public:
AP_Int8 flap_1_speed;
AP_Int8 flap_2_percent;
AP_Int8 flap_2_speed;
AP_Int8 land_flap_percent;
AP_Int8 takeoff_flap_percent;
AP_Int8 rssi_pin;
AP_Float rssi_range; // allows to set max voltage for rssi pin such as 5.0, 3.3 etc.
AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger

16
ArduPlane/Parameters.pde
View File

@ -206,6 +206,14 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: User
GSCALAR(takeoff_throttle_slewrate, "TKOFF_THR_SLEW", 0),
// @Param: TKOFF_FLAP_PCNT
// @DisplayName: Takeoff flap percentage
// @Description: The amount of flaps (as a percentage) to apply in automatic takeoff
// @Range: 0 100
// @Units: Percent
// @User: Advanced
GSCALAR(takeoff_flap_percent, "TKOFF_FLAP_PCNT", 0),
// @Param: FBWA_TDRAG_CHAN
// @DisplayName: FBWA taildragger channel
// @Description: This is a RC input channel which when it goes above 1700 enables FBWA taildragger takeoff mode. It should be assigned to a momentary switch. Once this feature is enabled it will stay enabled until the aircraft goes above TKOFF_TDRAG_SPD1 airspeed, changes mode, or the pitch goes above the initial pitch when this is engaged or goes below 0 pitch. When enabled the elevator will be forced to TKOFF_TDRAG_ELEV. This option allows for easier takeoffs on taildraggers in FBWA mode, and also makes it easier to test auto-takeoff steering handling in FBWA. Setting it to 0 disables this option.
@ -849,6 +857,14 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Advanced
GSCALAR(flap_2_speed, "FLAP_2_SPEED", FLAP_2_SPEED),
// @Param: LAND_FLAP_PERCNT
// @DisplayName: Landing flap percentage
// @Description: The amount of flaps (as a percentage) to apply in the landing approach and flare of an automatic landing
// @Range: 0 100
// @Units: Percent
// @User: Advanced
GSCALAR(land_flap_percent, "LAND_FLAP_PERCNT", 0),
// @Param: RSSI_PIN
// @DisplayName: Receiver RSSI sensing pin
// @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum