Copter: Throw mode add params for desired ascent alt after throw

Author: topaz-244

ArduCopter/Parameters.cpp

@@ -648,6 +648,20 @@ const AP_Param::Info Copter::var_info[] = {
     // @Units: m
     // @User: Advanced
     GSCALAR(throw_altitude_max, "THROW_ALT_MAX", 0),
+
+    // @Param: THROW_ALT_DCSND
+    // @DisplayName: Throw mode target altitude to descend
+    // @Description: Target altitude to descend during a drop, (must be positive). This allows for rapidly clearing surrounding obstacles.
+    // @Units: m
+    // @User: Advanced
+    GSCALAR(throw_altitude_descend, "THROW_ALT_DCSND", 1.0),
+
+    // @Param: THROW_ALT_ACSND
+    // @DisplayName: Throw mode target altitude to ascsend
+    // @Description: Target altitude to ascend during a throw upwards (must be positive). This allows for rapidly clearing surrounding obstacles.
+    // @Units: m
+    // @User: Advanced
+    GSCALAR(throw_altitude_ascend, "THROW_ALT_ACSND", 3.0),
 #endif
 
 #if OSD_ENABLED || OSD_PARAM_ENABLED

ArduCopter/Parameters.h

@@ -382,6 +382,8 @@ class Parameters {
         k_param_throw_altitude_min,
         k_param_throw_altitude_max,
         k_param__gcs,
+        k_param_throw_altitude_descend,
+        k_param_throw_altitude_ascend,
 
         // the k_param_* space is 9-bits in size
         // 511: reserved
@@ -458,6 +460,9 @@ class Parameters {
     AP_Enum<ModeThrow::PreThrowMotorState>         throw_motor_start;
     AP_Int16         throw_altitude_min; // minimum altitude in m above which a throw can be detected
     AP_Int16         throw_altitude_max; // maximum altitude in m below which a throw can be detected
+
+    AP_Float         throw_altitude_descend;    // target altitude (meters) to descend during a drop, (must be positive)
+    AP_Float         throw_altitude_ascend;     // target altitude (meters) to ascend during a throw upwards, (must be positive)
 #endif
 
     AP_Int16                rc_speed; // speed of fast RC Channels in Hz

ArduCopter/mode_throw.cpp

@@ -69,12 +69,12 @@ void ModeThrow::run()
         // initialise the z controller
         pos_control->init_U_controller_no_descent();
 
-        // initialise the demanded height to 3m above the throw height
-        // we want to rapidly clear surrounding obstacles
+        // initialise the demanded height below/above the throw height from user parameters
+        // this allows for rapidly clearing surrounding obstacles
         if (g2.throw_type == ThrowType::Drop) {
-            pos_control->set_pos_desired_U_cm(inertial_nav.get_position_z_up_cm() - 100);
+            pos_control->set_pos_desired_U_cm(inertial_nav.get_position_z_up_cm() - g.throw_altitude_descend * 100.0f);
         } else {
-            pos_control->set_pos_desired_U_cm(inertial_nav.get_position_z_up_cm() + 300);
+            pos_control->set_pos_desired_U_cm(inertial_nav.get_position_z_up_cm() + g.throw_altitude_ascend * 100.0f);
         }
 
         // Set the auto_arm status to true to avoid a possible automatic disarm caused by selection of an auto mode with throttle at minimum