ArduPlane: parameterize lookahead climb ratio

ArduPilot · Dec 16, 2024 · b2bc7c5 · b2bc7c5
1 parent aec7cc2
commit b2bc7c5
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Showing 3 changed files with 11 additions and 2 deletions.
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
@@ -1303,7 +1303,15 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @User: Standard
     AP_GROUPINFO("RNGFND_LND_ORNT", 36, ParametersG2, rangefinder_land_orient, ROTATION_PITCH_270),
 #endif
-
+
+    // @Param: PTCH_LKAHD_CLMB
+    // @DisplayName: lookahead climb pitch ratio
+    // @Description: The ratio of pitch to use when doing a terrain lookahead so the plane is not constantly at 100% throttle.
+    // @Range: 0 100
+    // @Units: %
+    // @User: Standard
+    AP_GROUPINFO("PTCH_LKAHD_CLMB", 37, ParametersG2, pitch_lookahead_climb_ratio, 50),
+
     AP_GROUPEND
 };
 

diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
@@ -588,6 +588,7 @@ class ParametersG2 {
     // orientation of rangefinder to use for landing
     AP_Int8 rangefinder_land_orient;
 #endif
+    AP_Float        pitch_lookahead_climb_ratio;
 };
 
 extern const AP_Param::Info var_info[];
diff --git a/ArduPlane/altitude.cpp b/ArduPlane/altitude.cpp
@@ -605,7 +605,7 @@ float Plane::lookahead_adjustment(void)
     // we need to know the climb ratio. We use 50% of the maximum
     // climb rate so we are not constantly at 100% throttle and to
     // give a bit more margin on terrain
-    float climb_ratio = 0.5f * TECS_controller.get_max_climbrate() / groundspeed;
+    float climb_ratio = g2.pitch_lookahead_climb_ratio * TECS_controller.get_max_climbrate() / groundspeed;
 
     if (climb_ratio <= 0) {
         // lookahead makes no sense for negative climb rates