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Plane: move elevon variables into a structure

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This commit is contained in:
Andrew Tridgell 2013-04-15 14:53:56 +10:00
parent 79c6f32400
commit 8f091e70c8
3 changed files with 28 additions and 19 deletions
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19
ArduPlane/ArduPlane.pde
View File

@ -295,13 +295,22 @@ enum FlightMode control_mode = INITIALISING;
uint8_t oldSwitchPosition;
// This is used to enable the inverted flight feature
bool inverted_flight = false;
static struct {
// These are trim values used for elevon control
// For elevons radio_in[CH_ROLL] and radio_in[CH_PITCH] are equivalent aileron and elevator, not left and right elevon
static uint16_t elevon1_trim = 1500;
static uint16_t elevon2_trim = 1500;
// For elevons radio_in[CH_ROLL] and radio_in[CH_PITCH] are
// equivalent aileron and elevator, not left and right elevon
uint16_t trim1;
uint16_t trim2;
// These are used in the calculation of elevon1_trim and elevon2_trim
static uint16_t ch1_temp = 1500;
static uint16_t ch2_temp = 1500;
uint16_t ch1_temp;
uint16_t ch2_temp;
} elevon = {
.trim1 = 1500,
.trim2 = 1500,
.ch1_temp = 1500,
.ch2_temp = 1500
};
// A flag if GCS joystick control is in use
static bool rc_override_active = false;

4
ArduPlane/Attitude.pde
View File

@ -610,8 +610,8 @@ static void set_servos(void)
}
// directly set the radio_out values for elevon mode
g.channel_roll.radio_out = elevon1_trim + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0/ SERVO_MAX));
g.channel_pitch.radio_out = elevon2_trim + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
g.channel_roll.radio_out = elevon.trim1 + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0/ SERVO_MAX));
g.channel_pitch.radio_out = elevon.trim2 + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
}
#if OBC_FAILSAFE == ENABLED

20
ArduPlane/radio.pde
View File

@ -71,16 +71,16 @@ static void init_rc_out()
static void read_radio()
{
ch1_temp = hal.rcin->read(CH_ROLL);
ch2_temp = hal.rcin->read(CH_PITCH);
elevon.ch1_temp = hal.rcin->read(CH_ROLL);
elevon.ch2_temp = hal.rcin->read(CH_PITCH);
uint16_t pwm_roll, pwm_pitch;
if (g.mix_mode == 0) {
pwm_roll = ch1_temp;
pwm_pitch = ch2_temp;
pwm_roll = elevon.ch1_temp;
pwm_pitch = elevon.ch2_temp;
}else{
pwm_roll = BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(ch2_temp - elevon2_trim) - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(ch1_temp - elevon1_trim)) / 2 + 1500;
pwm_pitch = (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(ch2_temp - elevon2_trim) + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(ch1_temp - elevon1_trim)) / 2 + 1500;
pwm_roll = BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(elevon.ch2_temp - elevon.trim2) - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(elevon.ch1_temp - elevon.trim1)) / 2 + 1500;
pwm_pitch = (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(elevon.ch2_temp - elevon.trim2) + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(elevon.ch1_temp - elevon.trim1)) / 2 + 1500;
}
if (control_mode == TRAINING) {
@ -202,11 +202,11 @@ static void trim_control_surfaces()
RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_aileron_with_input);
RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_elevator_with_input);
} else{
if (ch1_temp != 0) {
elevon1_trim = ch1_temp;
if (elevon.ch1_temp != 0) {
elevon.trim1 = elevon.ch1_temp;
}
if (ch2_temp != 0) {
elevon2_trim = ch2_temp;
if (elevon.ch2_temp != 0) {
elevon.trim2 = elevon.ch2_temp;
}
//Recompute values here using new values for elevon1_trim and elevon2_trim
//We cannot use radio_in[CH_ROLL] and radio_in[CH_PITCH] values from read_radio() because the elevon trim values have changed