AP_Landing: option to keep landing throttle at thr_min during flare

ArduPlane/servos.cpp

@@ -469,8 +469,11 @@ void Plane::set_servos_controlled(void)
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0);
         }
     } else if (suppress_throttle()) {
-        // throttle is suppressed in auto mode
-        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0 ); // default
+        // throttle is suppressed (above) to zero in final flare in auto mode, but we allow instead thr_min if user prefers, eg turbines:
+        if (landing.is_flaring() && landing.use_thr_min_during_flare() ) {
+            SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, aparm.throttle_min.get());
+        }
         if (g.throttle_suppress_manual) {
             // manual pass through of throttle while throttle is suppressed
             SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, get_throttle_input(true));

libraries/AP_Landing/AP_Landing.cpp

@@ -142,7 +142,14 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
     // @Group: DS_
     // @Path: AP_Landing_Deepstall.cpp
     AP_SUBGROUPINFO(deepstall, "DS_", 15, AP_Landing, AP_Landing_Deepstall),
-
+
+    // @Param: OPTIONS
+    // @DisplayName: Landing options bitmask
+    // @Description: Bitmask of options to use with landing.
+    // @Bitmask: 0: honor min throttle during landing flare
+    // @User: Advanced
+    AP_GROUPINFO("OPTIONS", 16, AP_Landing, _options, 0),
+
     AP_GROUPEND
 };
 
@@ -606,6 +613,12 @@ bool AP_Landing::is_throttle_suppressed(void) const
     }
 }
 
+//defaults to false, but _options bit zero enables it.
+bool AP_Landing::use_thr_min_during_flare(void) const
+{
+    return (OptionsMask::ON_LANDING_FLARE_USE_THR_MIN & _options) != 0;
+}
+
 /*
  * returns false when the vehicle might not be flying forward while landing
  */

libraries/AP_Landing/AP_Landing.h

@@ -57,6 +57,11 @@ class AP_Landing {
 //      TODO: TYPE_HELICAL,
     };
 
+    // we support upto 32 boolean bits for users wanting to change landing behaviour.
+    enum OptionsMask {
+        ON_LANDING_FLARE_USE_THR_MIN                   = (1<<0),   // If set then set trottle to thr_min instead of zero on final flare
+    };
+
     void do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
     bool verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
             const int32_t auto_state_takeoff_altitude_rel_cm, bool &throttle_suppressed);
@@ -72,6 +77,7 @@ class AP_Landing {
     bool is_ground_steering_allowed(void) const;
     bool is_throttle_suppressed(void) const;
     bool is_flying_forward(void) const;
+    bool use_thr_min_during_flare(void) const; //defaults to false, but _options bit zero enables it.
     void handle_flight_stage_change(const bool _in_landing_stage);
     int32_t constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd);
     bool get_target_altitude_location(Location &location);
@@ -115,6 +121,8 @@ class AP_Landing {
         bool in_progress:1;
     } flags;
 
+    AP_Int16 _options;    // user-configurable bitmask options, via a parameter, for landing
+
     // same as land_slope but sampled once before a rangefinder changes the slope. This should be the original mission planned slope
     float initial_slope;