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Plane: deprecate old aileron_with_input and elevator_with_input

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these have very rarely been used and don't work well with new trimming
mechanisms. Now treat them as ordinary ailerons/elevators
This commit is contained in:
Andrew Tridgell 2017-07-01 21:23:31 +10:00
parent 1d41dc034d
commit 2cb511c049
3 changed files with 8 additions and 20 deletions
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2
ArduPlane/failsafe.cpp
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@ -82,8 +82,6 @@ void Plane::failsafe_check(void)
// setup secondary output channels that do have // setup secondary output channels that do have
// corresponding input channels // corresponding input channels
SRV_Channels::copy_radio_in_out(SRV_Channel::k_manual, true); SRV_Channels::copy_radio_in_out(SRV_Channel::k_manual, true);
SRV_Channels::copy_radio_in_out(SRV_Channel::k_aileron_with_input, true);
SRV_Channels::copy_radio_in_out(SRV_Channel::k_elevator_with_input, true);
SRV_Channels::set_output_scaled(SRV_Channel::k_flap, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_flap, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_flap_auto, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_flap_auto, 0);

8
ArduPlane/px4_mixer.cpp
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@ -100,10 +100,12 @@ uint16_t Plane::create_mixer(char *buf, uint16_t buf_size, const char *filename)
mix = mix_max*mixmul[g.elevon_output][0]; mix = mix_max*mixmul[g.elevon_output][0];
} else if (function == SRV_Channel::k_aileron || } else if (function == SRV_Channel::k_aileron ||
function == SRV_Channel::k_flaperon_left || function == SRV_Channel::k_flaperon_left ||
function == SRV_Channel::k_flaperon_right) { function == SRV_Channel::k_flaperon_right ||
function == SRV_Channel::k_aileron_with_input) {
// a secondary aileron. We don't mix flap input in yet for flaperons // a secondary aileron. We don't mix flap input in yet for flaperons
c1 = rcmap.roll()-1; c1 = rcmap.roll()-1;
} else if (function == SRV_Channel::k_elevator) { } else if (function == SRV_Channel::k_elevator ||
function == SRV_Channel::k_elevator_with_input) {
// a secondary elevator // a secondary elevator
c1 = rcmap.pitch()-1; c1 = rcmap.pitch()-1;
} else if (function == SRV_Channel::k_rudder || } else if (function == SRV_Channel::k_rudder ||
@ -116,8 +118,6 @@ uint16_t Plane::create_mixer(char *buf, uint16_t buf_size, const char *filename)
// a flap output channel, and we have a manual flap input channel // a flap output channel, and we have a manual flap input channel
c1 = g.flapin_channel-1; c1 = g.flapin_channel-1;
} else if (i < 4 || } else if (i < 4 ||
function == SRV_Channel::k_elevator_with_input ||
function == SRV_Channel::k_aileron_with_input ||
function == SRV_Channel::k_manual) { function == SRV_Channel::k_manual) {
// a pass-thru channel // a pass-thru channel
c1 = i; c1 = i;

18
ArduPlane/servos.cpp
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@ -348,12 +348,6 @@ void Plane::set_servos_manual_passthrough(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, channel_pitch->get_control_in_zero_dz()); SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, channel_pitch->get_control_in_zero_dz());
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, channel_rudder->get_control_in_zero_dz()); SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, channel_rudder->get_control_in_zero_dz());
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in_zero_dz()); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in_zero_dz());
// this variant assumes you have the corresponding
// input channel setup in your transmitter for manual control
// of the 2nd aileron
SRV_Channels::copy_radio_in_out(SRV_Channel::k_aileron_with_input);
SRV_Channels::copy_radio_in_out(SRV_Channel::k_elevator_with_input);
} }
/* /*
@ -411,14 +405,6 @@ void Plane::throttle_watt_limiter(int8_t &min_throttle, int8_t &max_throttle)
*/ */
void Plane::set_servos_controlled(void) void Plane::set_servos_controlled(void)
{ {
// both types of secondary aileron are slaved to the roll servo out
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron_with_input,
SRV_Channels::get_output_scaled(SRV_Channel::k_aileron));
// both types of secondary elevator are slaved to the pitch servo out
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator_with_input,
SRV_Channels::get_output_scaled(SRV_Channel::k_elevator));
if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) { if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
// allow landing to override servos if it would like to // allow landing to override servos if it would like to
landing.override_servos(); landing.override_servos();
@ -582,6 +568,10 @@ void Plane::servo_output_mixers(void)
channel_function_mixer(SRV_Channel::k_aileron, SRV_Channel::k_elevator, SRV_Channel::k_elevon_left, SRV_Channel::k_elevon_right); channel_function_mixer(SRV_Channel::k_aileron, SRV_Channel::k_elevator, SRV_Channel::k_elevon_left, SRV_Channel::k_elevon_right);
channel_function_mixer(SRV_Channel::k_rudder, SRV_Channel::k_elevator, SRV_Channel::k_vtail_right, SRV_Channel::k_vtail_left); channel_function_mixer(SRV_Channel::k_rudder, SRV_Channel::k_elevator, SRV_Channel::k_vtail_right, SRV_Channel::k_vtail_left);
// copy aileron to deprecated aileron_with_input and elevator to deprecated elevator_with_input
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron_with_input, SRV_Channels::get_output_scaled(SRV_Channel::k_aileron));
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator_with_input, SRV_Channels::get_output_scaled(SRV_Channel::k_elevator));
// implement differential spoilers // implement differential spoilers
dspoiler_update(); dspoiler_update();
} }