Andrew Tridgell
6 years ago
15 changed files with 153 additions and 111 deletions
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/*
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/ |
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/*
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reverse thrust support functions |
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*/ |
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#include "Plane.h" |
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/*
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see if reverse thrust should be allowed in the current flight state |
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*/ |
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bool Plane::allow_reverse_thrust(void) const |
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{ |
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// check if we should allow reverse thrust
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bool allow = false; |
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if (g.use_reverse_thrust == USE_REVERSE_THRUST_NEVER || !have_reverse_thrust()) { |
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return false; |
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} |
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switch (control_mode) { |
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case AUTO: |
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{ |
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uint16_t nav_cmd = mission.get_current_nav_cmd().id; |
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// never allow reverse thrust during takeoff
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if (nav_cmd == MAV_CMD_NAV_TAKEOFF) { |
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return false; |
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} |
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// always allow regardless of mission item
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_ALWAYS); |
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// landing
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LAND_APPROACH) && |
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(nav_cmd == MAV_CMD_NAV_LAND); |
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// LOITER_TO_ALT
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LOITER_TO_ALT) && |
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(nav_cmd == MAV_CMD_NAV_LOITER_TO_ALT); |
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// any Loiter (including LOITER_TO_ALT)
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_LOITER_ALL) && |
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(nav_cmd == MAV_CMD_NAV_LOITER_TIME || |
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nav_cmd == MAV_CMD_NAV_LOITER_TO_ALT || |
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nav_cmd == MAV_CMD_NAV_LOITER_TURNS || |
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nav_cmd == MAV_CMD_NAV_LOITER_UNLIM); |
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// waypoints
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_AUTO_WAYPOINT) && |
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(nav_cmd == MAV_CMD_NAV_WAYPOINT || |
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nav_cmd == MAV_CMD_NAV_SPLINE_WAYPOINT); |
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} |
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break; |
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case LOITER: |
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_LOITER); |
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break; |
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case RTL: |
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_RTL); |
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break; |
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case CIRCLE: |
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_CIRCLE); |
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break; |
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case CRUISE: |
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_CRUISE); |
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break; |
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case FLY_BY_WIRE_B: |
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_FBWB); |
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break; |
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case AVOID_ADSB: |
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case GUIDED: |
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allow |= (g.use_reverse_thrust & USE_REVERSE_THRUST_GUIDED); |
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break; |
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default: |
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// all other control_modes are auto_throttle_mode=false.
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// If we are not controlling throttle, don't limit it.
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allow = true; |
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break; |
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} |
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return allow; |
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} |
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/*
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return true if we are configured to support reverse thrust |
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*/ |
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bool Plane::have_reverse_thrust(void) const |
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{ |
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return aparm.throttle_min < 0; |
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} |
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/*
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return control in from the radio throttle channel. |
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*/ |
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int16_t Plane::get_throttle_input(bool no_deadzone) const |
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{ |
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if (no_deadzone) { |
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return channel_throttle->get_control_in_zero_dz(); |
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} |
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return channel_throttle->get_control_in(); |
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} |
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