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Plane: servos: update dspoiler auto trim

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IamPete1 2019-04-14 13:29:50 +01:00 committed by Andrew Tridgell
parent 6206d214b8
commit 27286b659b
1 changed files with 28 additions and 9 deletions
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37
ArduPlane/servos.cpp
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@ -199,9 +199,9 @@ void Plane::dspoiler_update(void)
}
const int8_t bitmask = g2.crow_flap_options.get();
const bool flying_wing = bitmask & CrowFlapOptions::FLYINGWING;
const bool full_span_aileron = bitmask & CrowFlapOptions::FULLSPAN;
const bool progresive_crow = bitmask & CrowFlapOptions::PROGRESSIVE_CROW;
const bool flying_wing = (bitmask & CrowFlapOptions::FLYINGWING) != 0;
const bool full_span_aileron = (bitmask & CrowFlapOptions::FULLSPAN) != 0;
const bool progresive_crow = (bitmask & CrowFlapOptions::PROGRESSIVE_CROW) != 0;
// if flying wing use elevons else use ailerons
float elevon_left;
@ -881,7 +881,7 @@ void Plane::servos_auto_trim(void)
// adjust trim on channels by a small amount according to I value
float roll_I = rollController.get_pid_info().I;
float pitch_I = pitchController.get_pid_info().I;
g2.servo_channels.adjust_trim(SRV_Channel::k_aileron, roll_I);
g2.servo_channels.adjust_trim(SRV_Channel::k_elevator, pitch_I);
@ -894,11 +894,30 @@ void Plane::servos_auto_trim(void)
g2.servo_channels.adjust_trim(SRV_Channel::k_flaperon_left, roll_I);
g2.servo_channels.adjust_trim(SRV_Channel::k_flaperon_right, -roll_I);
g2.servo_channels.adjust_trim(SRV_Channel::k_dspoilerLeft1, pitch_I - roll_I);
g2.servo_channels.adjust_trim(SRV_Channel::k_dspoilerLeft2, pitch_I - roll_I);
g2.servo_channels.adjust_trim(SRV_Channel::k_dspoilerRight1, pitch_I + roll_I);
g2.servo_channels.adjust_trim(SRV_Channel::k_dspoilerRight2, pitch_I + roll_I);
// cope with various dspoiler options
const int8_t bitmask = g2.crow_flap_options.get();
const bool flying_wing = (bitmask & CrowFlapOptions::FLYINGWING) != 0;
const bool full_span_aileron = (bitmask & CrowFlapOptions::FULLSPAN) != 0;
float dspoiler_outer_left = - roll_I;
float dspoiler_inner_left = 0.0f;
float dspoiler_outer_right = roll_I;
float dspoiler_inner_right = 0.0f;
if (flying_wing) {
dspoiler_outer_left += pitch_I;
dspoiler_outer_right += pitch_I;
}
if (full_span_aileron) {
dspoiler_inner_left = dspoiler_outer_left;
dspoiler_inner_right = dspoiler_outer_right;
}
g2.servo_channels.adjust_trim(SRV_Channel::k_dspoilerLeft1, dspoiler_outer_left);
g2.servo_channels.adjust_trim(SRV_Channel::k_dspoilerLeft2, dspoiler_inner_left);
g2.servo_channels.adjust_trim(SRV_Channel::k_dspoilerRight1, dspoiler_outer_right);
g2.servo_channels.adjust_trim(SRV_Channel::k_dspoilerRight2, dspoiler_inner_right);
auto_trim.last_trim_check = now;
if (now - auto_trim.last_trim_save > 10000) {