Plane: added glider pullup support #27985
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| case k_lift_release: | ||
| set_range(100); |
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I would like to start setting range/angle of 1 for new things.
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| case k_lift_release: | |
| set_range(100); | |
| set_range(100); | |
| case k_lift_release: | |
| set_range(1); |
Eventually we can get rid of all the * 4500
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there are no set_range(1) calls in master right now, and while the range is a uint16_t I don't think 1 is a good choice as a default as it means it can only be binary. That is OK for this case, but not a good pattern
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| @@ -515,6 +519,11 @@ class Plane : public AP_Vehicle { | |||
| // have we checked for an auto-land? | |||
| bool checked_for_autoland; | |||
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| // Altitude threshold to complete a takeoff command in autonomous modes. Centimeters | |||
| @@ -27,6 +27,9 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd) | |||
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| nav_controller->set_data_is_stale(); | |||
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| // start non-idle | |||
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This brings in a pullup system for gliders developed by @priseborough and myself. It is used for the NOAA hight altitude glider drops
This feature is not compiled in by default except on SITL to minimise flash costs for most users. It is expected that users doing high altitude glider drops will use the custom build server or a custom hwdef.dat. Note that doing this with a lua script was looked at and it would require quite a few new binding extensions which I didn't think was worth doing, and would cost more flash for most users.
The feature is enabled with the PUP_ENABLE parameter. When enabled it adds a new stage to the NAV_ALTITUDE_WAIT mission item, controlled by the PUP_* parameters. This stage controls the pullup manoeuvrer where we do a g-force limited pullup out of a dive, bring the aircraft to a normal flight regime where normal mission commands can take over