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APM: fixed elevon mixing 

this was broken in 2.61
This commit is contained in:
Andrew Tridgell 2012-09-13 12:01:40 +10:00
parent 4f504b0729
commit 9603236de4
1 changed files with 5 additions and 3 deletions
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8
ArduPlane/Attitude.pde
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@ -361,7 +361,7 @@ static void set_servos(void)
float ch2; float ch2;
ch1 = g.channel_pitch.servo_out - (BOOL_TO_SIGN(g.reverse_elevons) * g.channel_roll.servo_out); ch1 = g.channel_pitch.servo_out - (BOOL_TO_SIGN(g.reverse_elevons) * g.channel_roll.servo_out);
ch2 = g.channel_pitch.servo_out + (BOOL_TO_SIGN(g.reverse_elevons) * g.channel_roll.servo_out); ch2 = g.channel_pitch.servo_out + (BOOL_TO_SIGN(g.reverse_elevons) * g.channel_roll.servo_out);
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));
} }
@ -398,8 +398,10 @@ static void set_servos(void)
// push out the PWM values // push out the PWM values
g.channel_roll.calc_pwm(); if (g.mix_mode == 0) {
g.channel_pitch.calc_pwm(); g.channel_roll.calc_pwm();
g.channel_pitch.calc_pwm();
}
g.channel_throttle.calc_pwm(); g.channel_throttle.calc_pwm();
g.channel_rudder.calc_pwm(); g.channel_rudder.calc_pwm();
} }