Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-09 17:38:32 -04:00
Code Issues Packages Projects Releases Wiki Activity

APM: Fix rudder in elevon mode.

Browse Source 
elevon planes can have rudders too
This commit is contained in:
Phil 2011-12-27 00:42:50 -08:00 committed by Andrew Tridgell
parent a43ee36bee
commit 9242c157ee
2 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/Attitude.pde
View File

@ -314,7 +314,6 @@ static void set_servos(void)
if (g.mix_mode == 0) { if (g.mix_mode == 0) {
g.channel_roll.calc_pwm(); g.channel_roll.calc_pwm();
g.channel_pitch.calc_pwm(); g.channel_pitch.calc_pwm();
g.channel_rudder.calc_pwm();
if (g_rc_function[RC_Channel_aux::k_aileron]) { if (g_rc_function[RC_Channel_aux::k_aileron]) {
g_rc_function[RC_Channel_aux::k_aileron]->servo_out = g.channel_roll.servo_out; g_rc_function[RC_Channel_aux::k_aileron]->servo_out = g.channel_roll.servo_out;
g_rc_function[RC_Channel_aux::k_aileron]->calc_pwm(); g_rc_function[RC_Channel_aux::k_aileron]->calc_pwm();
@ -329,6 +328,7 @@ static void set_servos(void)
g.channel_roll.radio_out = elevon1_trim + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0/ SERVO_MAX)); 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_pitch.radio_out = elevon2_trim + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
} }
g.channel_rudder.calc_pwm();
#if THROTTLE_OUT == 0 #if THROTTLE_OUT == 0
g.channel_throttle.servo_out = 0; g.channel_throttle.servo_out = 0;

5
ArduPlane/radio.pde
View File

@ -157,7 +157,6 @@ static void trim_control_surfaces()
if(g.mix_mode == 0){ if(g.mix_mode == 0){
g.channel_roll.radio_trim = g.channel_roll.radio_in; g.channel_roll.radio_trim = g.channel_roll.radio_in;
g.channel_pitch.radio_trim = g.channel_pitch.radio_in; g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
}else{ }else{
@ -169,6 +168,7 @@ static void trim_control_surfaces()
g.channel_roll.radio_trim = center; g.channel_roll.radio_trim = center;
g.channel_pitch.radio_trim = center; g.channel_pitch.radio_trim = center;
} }
g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
// save to eeprom // save to eeprom
g.channel_roll.save_eeprom(); g.channel_roll.save_eeprom();
@ -190,7 +190,6 @@ static void trim_radio()
g.channel_roll.radio_trim = g.channel_roll.radio_in; g.channel_roll.radio_trim = g.channel_roll.radio_in;
g.channel_pitch.radio_trim = g.channel_pitch.radio_in; g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
//g.channel_throttle.radio_trim = g.channel_throttle.radio_in; //g.channel_throttle.radio_trim = g.channel_throttle.radio_in;
g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
} else { } else {
@ -199,8 +198,8 @@ static void trim_radio()
uint16_t center = 1500; uint16_t center = 1500;
g.channel_roll.radio_trim = center; g.channel_roll.radio_trim = center;
g.channel_pitch.radio_trim = center; g.channel_pitch.radio_trim = center;
g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
} }
g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
// save to eeprom // save to eeprom
g.channel_roll.save_eeprom(); g.channel_roll.save_eeprom();