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APM: fixed differential spoilers in manual mode 

make them follow the elevons
This commit is contained in:
Andrew Tridgell 2012-10-31 12:39:45 +11:00
parent d5a04215bb
commit 189b984400
1 changed files with 19 additions and 6 deletions
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25
ArduPlane/Attitude.pde
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@ -362,8 +362,13 @@ static void set_servos(void)
// ensure flaps and extra aileron channels are updated
RC_Channel_aux::set_radio(RC_Channel_aux::k_aileron, g.channel_roll.radio_out);
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_flap_auto);
//RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_dspoiler1);
//RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_dspoiler2);
if (g.mix_mode != 0) {
// set any differential spoilers to follow the elevons in
// manual mode.
RC_Channel_aux::set_radio(RC_Channel_aux::k_dspoiler1, g.channel_roll.radio_out);
RC_Channel_aux::set_radio(RC_Channel_aux::k_dspoiler2, g.channel_pitch.radio_out);
}
} else {
if (g.mix_mode == 0) {
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, g.channel_roll.servo_out);
@ -373,11 +378,17 @@ static void set_servos(void)
float ch2;
ch1 = g.channel_pitch.servo_out - (BOOL_TO_SIGN(g.reverse_elevons) * g.channel_roll.servo_out);
ch2 = g.channel_pitch.servo_out + (BOOL_TO_SIGN(g.reverse_elevons) * g.channel_roll.servo_out);
/*Differntial Spoilers*/
if(RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler1) && RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler2)) {
/* Differential Spoilers
If differential spoilers are setup, then we translate
rudder control into splitting of the two ailerons on
the side of the aircraft where we want to induce
additional drag.
*/
if (RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler1) && RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler2)) {
float ch3 = ch1;
float ch4 = ch2;
if( BOOL_TO_SIGN(g.reverse_elevons) * g.channel_rudder.servo_out < 0) {
if ( BOOL_TO_SIGN(g.reverse_elevons) * g.channel_rudder.servo_out < 0) {
ch1 += abs(g.channel_rudder.servo_out);
ch3 -= abs(g.channel_rudder.servo_out);
} else {
@ -386,7 +397,9 @@ static void set_servos(void)
}
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_dspoiler1, ch3);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_dspoiler2, ch4);
} // spoiler deployed
}
// directly set the radio_out values for elevon mode
g.channel_roll.radio_out = elevon1_trim + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0/ SERVO_MAX));
g.channel_pitch.radio_out = elevon2_trim + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
}