Overview

The GROUND parameter group configures the Ground Steering logic for ArduPlane.

This system manages the transition from using the Rudder (airflow-based steering) to the Nose/Tail Wheel (mechanical ground-based steering) during takeoff and landing.

Key Concepts

1. Ground Steering Alt (GROUND_STEER_ALT)

Defines the altitude (meters) above which ground steering is disabled.

• Takeoff: Once the plane climbs above this height, the steering wheel is centered (or follows rudder) to reduce drag and prevent a sudden jerk if the wheels touch back down.

2. Steering Rate (GROUND_STEER_DPS)

Limits the maximum rotation rate (degrees per second) of the steering servo.

• Purpose: Prevents high-speed "tank slappers" or tip-overs by preventing the pilot (or autopilot) from slamming the steering wheel to full lock at high taxi speeds.

Parameter Breakdown

• GROUND_STEER_ALT: Transition altitude (m).
• GROUND_STEER_DPS: Max steering slew rate (deg/s).

Integration Guide

• Nose Wheel: Map your nose-wheel servo to GroundSteering (Function 39) rather than Rudder to utilize these specific ground-handling features.

Developer Notes

• Library: ArduPlane/servos.cpp.
• Context: Only relevant for ArduPlane.