/* We want to suppress the throttle if we think we are on the ground and in an autopilot controlled throttle mode.
Disable throttle if following conditions are met:
* 1 - We are in Circle mode (which we use for short term failsafe), or in FBW-B or higher
* AND
* 2 - Our reported altitude is within 10 meters of the home altitude.
* 3 - Our reported speed is under 5 meters per second.
* 4 - We are not performing a takeoff in Auto mode or takeoff speed/accel not yet reached
* OR
* 5 - Home location is not set
*/
bool Plane::suppress_throttle(void)
{
if (!throttle_suppressed) {
// we've previously met a condition for unsupressing the throttle
return false;
}
if (!auto_throttle_mode) {
// the user controls the throttle
throttle_suppressed = false;
return false;
}
if (control_mode==AUTO && g.auto_fbw_steer) {
// user has throttle control
return false;
}
if (control_mode==AUTO &&
auto_state.takeoff_complete == false) {
if (auto_takeoff_check()) {
// we're in auto takeoff
throttle_suppressed = false;
return false;
}
// keep throttle suppressed
return true;
}
if (relative_altitude_abs_cm() >= 1000) {
// we're more than 10m from the home altitude
throttle_suppressed = false;
gcs_send_text_fmt(PSTR("Throttle unsuppressed - altitude %.2f"),
(double)(relative_altitude_abs_cm()*0.01f));
return false;
}
if (gps.status() >= AP_GPS::GPS_OK_FIX_2D &&
gps.ground_speed() >= 5) {
// if we have an airspeed sensor, then check it too, and
// require 5m/s. This prevents throttle up due to spiky GPS
// groundspeed with bad GPS reception
if ((!ahrs.airspeed_sensor_enabled()) || airspeed.get_airspeed() >= 5) {
// we're moving at more than 5 m/s
gcs_send_text_fmt(PSTR("Throttle unsuppressed - speed %.2f airspeed %.2f"),
(double)gps.ground_speed(),
(double)airspeed.get_airspeed());
throttle_suppressed = false;
return false;
}
}
// throttle remains suppressed
return true;
}
/* We want to suppress the throttle if we think we are on the ground and in an autopilot controlled throttle mode.
Disable throttle if following conditions are met:
* 1 - We are in Circle mode (which we use for short term failsafe), or in FBW-B or higher
* AND
* 2 - Our reported altitude is within 10 meters of the home altitude.
* 3 - Our reported speed is under 5 meters per second.
* 4 - We are not performing a takeoff in Auto mode or takeoff speed/accel not yet reached
* OR
* 5 - Home location is not set
* OR
* 6- Landing does not want to allow throttle
*/
bool Plane::suppress_throttle(void)
{
#if PARACHUTE == ENABLED
if (auto_throttle_mode && parachute.release_initiated()) {
// throttle always suppressed in auto-throttle modes after parachute release initiated
throttle_suppressed = true;
return true;
}
#endif
if (landing.is_throttle_suppressed()) {
return true;
}
if (!throttle_suppressed) {
// we've previously met a condition for unsupressing the throttle
return false;
}
if (!auto_throttle_mode) {
// the user controls the throttle
throttle_suppressed = false;
return false;
}
if (control_mode==AUTO && g.auto_fbw_steer == 42) {
// user has throttle control
return false;
}
bool gps_movement = (gps.status() >= AP_GPS::GPS_OK_FIX_2D && gps.ground_speed() >= 5);
if (control_mode==AUTO &&
auto_state.takeoff_complete == false) {
uint32_t launch_duration_ms = ((int32_t)g.takeoff_throttle_delay)*100 + 2000;
if (is_flying() &&
millis() - started_flying_ms > MAX(launch_duration_ms, 5000U) && // been flying >5s in any mode
adjusted_relative_altitude_cm() > 500 && // are >5m above AGL/home
labs(ahrs.pitch_sensor) < 3000 && // not high pitch, which happens when held before launch
gps_movement) { // definite gps movement
// we're already flying, do not suppress the throttle. We can get
// stuck in this condition if we reset a mission and cmd 1 is takeoff
// but we're currently flying around below the takeoff altitude
throttle_suppressed = false;
return false;
}
if (auto_takeoff_check()) {
// we're in auto takeoff
throttle_suppressed = false;
auto_state.baro_takeoff_alt = barometer.get_altitude();
return false;
}
// keep throttle suppressed
return true;
}
if (fabsf(relative_altitude) >= 10.0f) {
// we're more than 10m from the home altitude
throttle_suppressed = false;
return false;
}
if (gps_movement) {
// if we have an airspeed sensor, then check it too, and
// require 5m/s. This prevents throttle up due to spiky GPS
// groundspeed with bad GPS reception
if ((!ahrs.airspeed_sensor_enabled()) || airspeed.get_airspeed() >= 5) {
// we're moving at more than 5 m/s
throttle_suppressed = false;
return false;
}
}
if (quadplane.is_flying()) {
throttle_suppressed = false;
return false;
}
// throttle remains suppressed
return true;
}
