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Plane: added crow brakes and diff. spoilers

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added crow braking via flap channel to differential spoilers and
reversed dspoiler outputs because having the inner elevon go up and
outer go down causes tip stall. now inner goes down, outer goes
up. still could use a percentage adjustment to change how much throw
each surface gets when using flap input.
This commit is contained in:
jgilbertfpv 2018-09-09 22:54:48 -05:00 committed by Andrew Tridgell
parent d3eb24bc01
commit 4d6547c533
1 changed files with 11 additions and 2 deletions
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13
ArduPlane/servos.cpp
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@ -205,15 +205,24 @@ void Plane::dspoiler_update(void)
float dspoiler2_left = elevon_left;
float dspoiler1_right = elevon_right;
float dspoiler2_right = elevon_right;
RC_Channel *flapin = RC_Channels::rc_channel(g.flapin_channel-1);
int8_t flap_percent = flapin->percent_input();;
if (rudder > 0) {
// apply rudder to right wing
dspoiler1_right = constrain_float(elevon_right + rudder, -4500, 4500);
dspoiler2_right = constrain_float(elevon_right - rudder, -4500, 4500);
} else {
// apply rudder to left wing
dspoiler1_left = constrain_float(elevon_left + rudder, -4500, 4500);
dspoiler2_left = constrain_float(elevon_left - rudder, -4500, 4500);
dspoiler1_left = constrain_float(elevon_left - rudder, -4500, 4500);
dspoiler2_left = constrain_float(elevon_left + rudder, -4500, 4500);
}
if (flap_percent > 0) {
//apply crow brakes to both wings
dspoiler1_left = constrain_float(elevon_left + flap_percent * 25, -4500, 4500);
dspoiler2_left = constrain_float(elevon_left - flap_percent * 45, -4500, 4500);
dspoiler1_right = constrain_float(elevon_right + flap_percent * 25, -4500, 4500);
dspoiler2_right = constrain_float(elevon_right - flap_percent * 45, -4500, 4500);
}
SRV_Channels::set_output_scaled(SRV_Channel::k_dspoilerLeft1, dspoiler1_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_dspoilerLeft2, dspoiler2_left);
SRV_Channels::set_output_scaled(SRV_Channel::k_dspoilerRight1, dspoiler1_right);