AP_TECS: Converted parameter TKOFF_MODE to TKOFF_OPTIONS

ArduPilot · Jul 25, 2024 · fa03001 · fa03001
1 parent 7c95fac
commit fa03001
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Showing 2 changed files with 8 additions and 2 deletions.
diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp
@@ -1458,7 +1458,8 @@ void AP_TECS::_update_throttle_limits() {
 
     // If less min throttle is allowed during takeoff, use it.
     bool use_takeoff_throttle = _flight_stage == AP_FixedWing::FlightStage::TAKEOFF || _flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING;
-    use_takeoff_throttle = use_takeoff_throttle && (aparm.takeoff_mode == 1) && (aparm.takeoff_throttle_min != 0);
+    const bool use_throttle_range = (aparm.takeoff_options & (uint32_t)AP_FixedWing::TakeoffOption::THROTTLE_RANGE);
+    use_takeoff_throttle = use_takeoff_throttle && (use_throttle_range == 1) && (aparm.takeoff_throttle_min != 0);
     if ( use_takeoff_throttle ) { 
         _THRminf = MIN(_THRminf, aparm.takeoff_throttle_min * 0.01f);
     }

diff --git a/libraries/AP_Vehicle/AP_FixedWing.h b/libraries/AP_Vehicle/AP_FixedWing.h
@@ -12,7 +12,7 @@ struct AP_FixedWing {
     AP_Int8 throttle_cruise;
     AP_Int8 takeoff_throttle_max;
     AP_Int8 takeoff_throttle_min;
-    AP_Int8 takeoff_mode;
+    AP_Int32 takeoff_options;
     AP_Int16 airspeed_min;
     AP_Int16 airspeed_max;
     AP_Float airspeed_cruise;
@@ -50,4 +50,9 @@ struct AP_FixedWing {
         LAND          = 4,
         ABORT_LANDING = 7
     };
+
+    // Bitfields of TKOFF_OPTIONS
+    enum class TakeoffOption {
+        THROTTLE_RANGE          = (1U << 0), // Unset: Max throttle. Set: Throttle range.
+    };
 };