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Plane: re-implement MIXING_OFFSET

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this was lost in the conversion of SRV_Channels
This commit is contained in:
Andrew Tridgell 2017-11-03 18:19:37 +11:00
parent 996df23a7f
commit 301b97df61
2 changed files with 12 additions and 3 deletions
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4
ArduPlane/Parameters.cpp
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@ -717,8 +717,8 @@ const AP_Param::Info Plane::var_info[] = {
// @Param: DSPOILR_RUD_RATE
// @DisplayName: Differential spoilers rudder rate
// @Description: Sets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect).
// @Units: d%
// @Range: -1000 1000
// @Units: %
// @Range: -100 100
// @User: User
GSCALAR(dspoiler_rud_rate, "DSPOILR_RUD_RATE", DSPOILR_RUD_RATE_DEFAULT),

11
ArduPlane/servos.cpp
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@ -243,6 +243,14 @@ void Plane::channel_function_mixer(SRV_Channel::Aux_servo_function_t func1_in, S
// reversal as needed
float in1 = SRV_Channels::get_output_scaled(func1_in);
float in2 = SRV_Channels::get_output_scaled(func2_in);
// apply MIXING_OFFSET to input channels
if (g.mixing_offset < 0) {
in2 *= (100 - g.mixing_offset) * 0.01;
} else if (g.mixing_offset > 0) {
in1 *= (100 + g.mixing_offset) * 0.01;
}
float out1 = constrain_float((in2 - in1) * g.mixing_gain, -4500, 4500);
float out2 = constrain_float((in2 + in1) * g.mixing_gain, -4500, 4500);
SRV_Channels::set_output_scaled(func1_out, out1);
@ -286,7 +294,8 @@ void Plane::dspoiler_update(void)
}
float elevon_left = SRV_Channels::get_output_scaled(SRV_Channel::k_elevon_left);
float elevon_right = SRV_Channels::get_output_scaled(SRV_Channel::k_elevon_right);
float rudder = SRV_Channels::get_output_scaled(SRV_Channel::k_rudder);
float rudder_rate = g.dspoiler_rud_rate * 0.01f;
float rudder = SRV_Channels::get_output_scaled(SRV_Channel::k_rudder) * rudder_rate;
float dspoiler1_left = elevon_left;
float dspoiler2_left = elevon_left;
float dspoiler1_right = elevon_right;