FW auto - Add parameter for flaps setting during landing

src/modules/fw_att_control/FixedwingAttitudeControl.cpp

@@ -110,6 +110,7 @@ FixedwingAttitudeControl::FixedwingAttitudeControl() :
 
 	_parameter_handles.flaps_scale = param_find("FW_FLAPS_SCL");
 	_parameter_handles.flaps_takeoff_scale = param_find("FW_FLAPS_TO_SCL");
+	_parameter_handles.flaps_land_scale = param_find("FW_FLAPS_LND_SCL");
 	_parameter_handles.flaperon_scale = param_find("FW_FLAPERON_SCL");
 
 	_parameter_handles.rattitude_thres = param_find("FW_RATT_TH");
@@ -234,6 +235,7 @@ FixedwingAttitudeControl::parameters_update()
 
 	param_get(_parameter_handles.flaps_scale, &_parameters.flaps_scale);
 	param_get(_parameter_handles.flaps_takeoff_scale, &_parameters.flaps_takeoff_scale);
+	param_get(_parameter_handles.flaps_land_scale, &_parameters.flaps_land_scale);
 	param_get(_parameter_handles.flaperon_scale, &_parameters.flaperon_scale);
 
 	param_get(_parameter_handles.rattitude_thres, &_parameters.rattitude_thres);
@@ -929,7 +931,8 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
 		case vehicle_attitude_setpoint_s::FLAPS_OFF : flap_control = 0.0f; // no flaps
 			break;
 
-		case vehicle_attitude_setpoint_s::FLAPS_LAND : flap_control = 1.0f * _parameters.flaps_scale; // landing flaps
+		case vehicle_attitude_setpoint_s::FLAPS_LAND : flap_control = 1.0f * _parameters.flaps_scale *
+					_parameters.flaps_land_scale; // landing flaps
 			break;
 
 		case vehicle_attitude_setpoint_s::FLAPS_TAKEOFF : flap_control = 1.0f * _parameters.flaps_scale *

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -197,6 +197,7 @@ private:
 
 		float flaps_scale;			/**< Scale factor for flaps */
 		float flaps_takeoff_scale;		/**< Scale factor for flaps on take-off */
+		float flaps_land_scale;			/**< Scale factor for flaps on landing */
 		float flaperon_scale;			/**< Scale factor for flaperons */
 
 		float rattitude_thres;
@@ -266,6 +267,7 @@ private:
 
 		param_t flaps_scale;
 		param_t flaps_takeoff_scale;
+		param_t flaps_land_scale;
 		param_t flaperon_scale;
 
 		param_t rattitude_thres;

src/modules/fw_att_control/fw_att_control_params.c

@@ -499,6 +499,20 @@ PARAM_DEFINE_FLOAT(FW_FLAPS_SCL, 1.0f);
  */
 PARAM_DEFINE_FLOAT(FW_FLAPS_TO_SCL, 0.0f);
 
+/**
+ * Flaps setting during landing
+ *
+ * Sets a fraction of full flaps (FW_FLAPS_SCL) during landing
+ *
+ * @unit norm
+ * @min 0.0
+ * @max 1.0
+ * @decimal 2
+ * @increment 0.01
+ * @group FW Attitude Control
+ */
+PARAM_DEFINE_FLOAT(FW_FLAPS_LND_SCL, 1.0f);
+
 /**
  * Scale factor for flaperons
  *