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Only use radio_in values if the channel is not used as flight_mode_channel

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This commit is contained in:
Amilcar Lucas 2011-10-07 00:14:19 +02:00
parent b98c681a92
commit 6a5d6889b7
1 changed files with 25 additions and 4 deletions
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29
ArduPlane/Attitude.pde
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@ -263,6 +263,17 @@ static void set_servos(void)
{
int flapSpeedSource = 0;
// vectorize the rc channels
RC_Channel_aux* rc_array[NUM_CHANNELS];
rc_array[CH_1] = NULL;
rc_array[CH_2] = NULL;
rc_array[CH_3] = NULL;
rc_array[CH_4] = NULL;
rc_array[CH_5] = &g.rc_5;
rc_array[CH_6] = &g.rc_6;
rc_array[CH_7] = &g.rc_7;
rc_array[CH_8] = &g.rc_8;
if(control_mode == MANUAL){
// do a direct pass through of radio values
if (g.mix_mode == 0){
@ -274,9 +285,15 @@ static void set_servos(void)
}
g.channel_throttle.radio_out = g.channel_throttle.radio_in;
g.channel_rudder.radio_out = g.channel_rudder.radio_in;
G_RC_AUX(k_aileron)->radio_out = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;
G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
// FIXME To me it does not make sense to control the aileron using radio_in in manual mode
// Doug could you please take a look at this ?
if (g_rc_function[RC_Channel_aux::k_aileron] != rc_array[g.flight_mode_channel-1])
G_RC_AUX(k_aileron)->radio_out = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;
// only use radio_in if the channel is not used as flight_mode_channel
if (g_rc_function[RC_Channel_aux::k_flap_auto] != rc_array[g.flight_mode_channel-1])
G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
else
G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_trim;
} else {
if (g.mix_mode == 0) {
g.channel_roll.calc_pwm();
@ -337,7 +354,11 @@ static void set_servos(void)
}
if(control_mode < FLY_BY_WIRE_B) {
G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
// only use radio_in if the channel is not used as flight_mode_channel
if (g_rc_function[RC_Channel_aux::k_flap_auto] != rc_array[g.flight_mode_channel-1])
G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
else
G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_trim;
} else if (control_mode >= FLY_BY_WIRE_B) {
if (control_mode == FLY_BY_WIRE_B) {
flapSpeedSource = airspeed_fbwB/100;