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APM: allow for arbitrary ranges and reversal on 2nd aileron

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this ensures you can setup a 2nd aileron with different reversal from
main aileron
This commit is contained in:
Andrew Tridgell 2012-11-05 23:37:58 +11:00
parent 3a1f85a4b0
commit 7d4be62906
1 changed files with 10 additions and 2 deletions
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12
ArduPlane/Attitude.pde
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@ -359,8 +359,16 @@ 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;
// ensure flaps and extra aileron channels are updated
RC_Channel_aux::set_radio(RC_Channel_aux::k_aileron, g.channel_roll.radio_out);
// setup extra aileron channel. We want this to come from the
// main aileron input channel, but using the 2nd channels dead
// zone, reverse and min/max settings. We need to use
// pwm_to_angle_dz() to ensure we don't trim the value for the
// deadzone of the main aileron channel, otherwise the 2nd
// aileron won't quite follow the first one
int16_t aileron_in = g.channel_roll.pwm_to_angle_dz(0);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, aileron_in);
// copy flap control from transmitter
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_flap_auto);
if (g.mix_mode != 0) {