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Plane: implement manual forward throttle for QACRO, QSTABILIZE and QHOVER #11763
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Flight tested on E-Flite Convergence and mini-Convergence. forward throttle and QACRO rudder control tested in SITL with RF8 BigStik Quadplane |
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rebased on master |
takeoff and landing in QHOVER mode with 20 mph wind, using forward throttle to compensate for wind. |
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force-pushed a whitespace fix |
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@IamPete1 I think you reviewed an earlier version of this PR. This one is cleaned up a bit, and I just added a new commit to allow testing the forward throttle and vectored yaw tilt functions while disarmed. The fact that they didn't work while disarmed caused a new user quite a bit of frustration. |
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rebased and added new parameter Q_FWD_THR_MIX which adds in forward throttle when above hover thrust |
restrict throttle_curve example to SITL builds
…OVER scale manual throttle to Q_FWD_THR_MAX add rudder control for QACRO: route copter controller yaw output to plane rudder output allow forward/yaw motor tilt when disarmed change param FWD_THR_CH to an RC option add parameter Q_FWD_THR_MIX mix in forward throttle proportional to (throttle - hover throttle) fix rebase error
replaced by #14520 |
1 new parameter: Q_FWD_THR_MAX and a new RCx_OPTION: FWD_THR
If FWD_THR is set for an RC channel, enables manual forward throttle control via that channel
Manual throttle ranges from zero to Q_FWD_THR_MAX with 1 being full throttle.
also adds rudder control from stick input for QACRO mode
replaces #11548
Question: should there be a flight mode in which forward throttle is somehow mixed in from throttle or pitch stick instead of using a separate channel? The stock Convergence has a mode in which the pitch stick controls only forward tilt, but this means altitude is controlled only by throttle, with pitch held near zero. The result is sluggish control of altitude.
Suggestion from @Hwurzburg : mix in forward tilt from throttle when throttle stick is above hover thrust