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Plane: Do not apply minimum throttle during SLT VTOL airbrake #28329

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Plane: Do not apply minimum throttle during SLT VTOL airbrake #28329

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232b6dc
autotest: Added back-transition throttle test
Georacer Oct 4, 2024
acd81b5
Plane: Fix SLT_Transition::active_frwd() check
Georacer Oct 7, 2024
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4 changes: 3 additions & 1 deletion ArduPlane/quadplane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4374,7 +4374,9 @@ bool SLT_Transition::allow_update_throttle_mix() const

bool SLT_Transition::active_frwd() const
{
return quadplane.assisted_flight && ((transition_state == TRANSITION_AIRSPEED_WAIT) || (transition_state == TRANSITION_TIMER));
return quadplane.assisted_flight && // We need to be in assisted flight...
((transition_state == TRANSITION_AIRSPEED_WAIT) || (transition_state == TRANSITION_TIMER)) // ... and a transition must be active...
&& !quadplane.in_vtol_airbrake(); // ... but not executing an QPOS_AIRBRAKE maneuver during an automated landing.
}

/*
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28 changes: 28 additions & 0 deletions Tools/autotest/quadplane.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1644,6 +1644,33 @@ def TransitionMinThrottle(self):

self.fly_home_land_and_disarm()

def BackTransitionMinThrottle(self):
'''Ensure min throttle is applied during back transition.'''
wps = self.create_simple_relhome_mission([
(mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 30),
(mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 2000, 0, 30),
(mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
])
self.check_mission_upload_download(wps)
self.set_parameter('Q_RTL_MODE', 1)

trim_pwm = 1000 + 10*self.get_parameter("TRIM_THROTTLE")
min_pwm = 1000 + 10*self.get_parameter("THR_MIN")

self.change_mode('AUTO')
self.wait_ready_to_arm()

self.arm_vehicle()
self.context_collect('STATUSTEXT')

self.wait_statustext("VTOL airbrake", check_context=True, timeout=300)
self.wait_servo_channel_value(3, trim_pwm, comparator=operator.le, timeout=1)

self.wait_statustext("VTOL position1", check_context=True, timeout=10)
self.wait_servo_channel_value(3, min_pwm+10, comparator=operator.le, timeout=1)

self.wait_disarmed(timeout=60)

def MAV_CMD_NAV_TAKEOFF(self):
'''test issuing takeoff command via mavlink'''
self.change_mode('GUIDED')
Expand Down Expand Up @@ -1901,6 +1928,7 @@ def tests(self):
self.mission_MAV_CMD_DO_VTOL_TRANSITION,
self.mavlink_MAV_CMD_DO_VTOL_TRANSITION,
self.TransitionMinThrottle,
self.BackTransitionMinThrottle,
self.MAV_CMD_NAV_TAKEOFF,
self.Q_GUIDED_MODE,
self.DCMClimbRate,
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