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ArduPlane: Fix effect of ELEVON_REVERSE 

* Previously, the ELEVON_REVERSE parameter was equivelant in function to the
  ELEVON_CH1_REVERSE parameter. These parameter values are found in
  g.reverse_elevons and g.reverse_ch1_elevon, and used to map to the radio_out
  channels in ArduPlane/Attitude.pde
* It seems the author's intent was for ELEVON_REVERSE to change the sign for
  the combination of pitch & roll into ch1 & ch2, as there are already
  parameters which change just the sign of ch1 and just the sign of ch2.
* Discovered this bug because I happened to build an elevon airframe which was
  not possible to setup with the existing ELEVON_ and RCn_REV parameters.
* This will break existing elevon setups if the user used ELEVON_REVERSE
  instead of ELEVON_CH1_REVERSE, since they were previously interchangable.
This commit is contained in:
Pat Hickey 2012-05-27 22:15:08 -07:00
parent 5754f97433
commit 1c00d1ffe3
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/Attitude.pde
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@ -323,8 +323,8 @@ static void set_servos(void)
/*Elevon mode*/
float ch1;
float ch2;
ch1 = BOOL_TO_SIGN(g.reverse_elevons) * (g.channel_pitch.servo_out - g.channel_roll.servo_out);
ch2 = g.channel_pitch.servo_out + g.channel_roll.servo_out;
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);
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));
}