Mirrors_Framework/ardupilot
1
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot.git synced 2026-10-02 10:23:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Plane: rework flap speed calculation

Browse Source
This commit is contained in:
Iampete1
2026-08-25 02:38:18 +01:00
committed by Peter Hall
parent 6c9a52ce6c
commit f3642464ee
2 changed files with 32 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ArduPlane/Plane.h
+1
View File
@@ -1174,6 +1174,7 @@ private:
float apply_throttle_limits(float throttle_in);
void set_throttle(void);
void set_takeoff_expected(void);
float get_auto_flap_speed() const;
void set_servos_flaps(void);
void dspoiler_update(void);
void airbrake_update(void);
ArduPlane/servos.cpp
+31 -19
View File
@@ -671,6 +671,34 @@ void Plane::set_takeoff_expected(void)
}
}
// Return the speed which should be used for auto flap deployment calculation
float Plane::get_auto_flap_speed() const
{
float est_airspeed;
const auto flap_actual_speed = flight_option_enabled(FlightOptions::FLAP_ACTUAL_SPEED) && ahrs.airspeed_EAS(est_airspeed) && TECS_controller.use_airspeed();
const bool has_target_airspeed = control_mode->does_auto_throttle() && (target_airspeed_cm > 0);
// Use airspeed if enabled and available
if (flap_actual_speed) {
// If there is a target airspeed return the smaller of the measured and the target
// This means the flaps are deployed in anticipation of slowing down
if (has_target_airspeed) {
return MIN(est_airspeed, target_airspeed_cm * 0.01f);
}
// No target, use measurement only
return est_airspeed;
}
// If there is a target airspeed use it
if (has_target_airspeed) {
return target_airspeed_cm * 0.01f;
}
// Default to cruise speed
return aparm.airspeed_cruise.get();
}
/*
setup flap outputs
*/
@@ -685,26 +713,10 @@ void Plane::set_servos_flaps(void)
manual_flap_percent = channel_flap->percent_input();
}
const auto flap_actual_speed = flight_option_enabled(FlightOptions::FLAP_ACTUAL_SPEED);
const auto autoflap_in_manual = flight_option_enabled(FlightOptions::FLAP_ACTUAL_SPEED);
const bool has_target_airspeed = control_mode->does_auto_throttle();
if (has_target_airspeed || flap_actual_speed) {
int16_t flapSpeedSource = 0;
float est_airspeed;
bool have_airspeed = ahrs.airspeed_EAS(est_airspeed);
if (has_target_airspeed && ahrs.using_airspeed_sensor()) {
flapSpeedSource = target_airspeed_cm * 0.01f;
if (flap_actual_speed) {
// if we have a target and also want to use actual
// speed then use the minimum of the two so we bring
// flaps in early when deliberately slowing down
flapSpeedSource = MIN(flapSpeedSource, est_airspeed);
}
} else if (flap_actual_speed && have_airspeed) {
// use actual speed directly
flapSpeedSource = est_airspeed;
} else {
flapSpeedSource = aparm.throttle_cruise;
}
if (has_target_airspeed || autoflap_in_manual) {
const float flapSpeedSource = get_auto_flap_speed();
if (g.flap_2_speed != 0 && flapSpeedSource <= g.flap_2_speed) {
auto_flap_percent = g.flap_2_percent;
} else if ( g.flap_1_speed != 0 && flapSpeedSource <= g.flap_1_speed) {