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Plane: added secondary elevator support

This commit is contained in:
Michael 2013-02-05 08:57:58 +11:00 committed by Andrew Tridgell
parent 5d91b06de3
commit b9a5be6c8b
3 changed files with 14 additions and 1 deletions
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11
ArduPlane/Attitude.pde
View File

@ -447,11 +447,18 @@ static void set_servos(void)
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);
// setup extra elevator channel following the same logic
int16_t elevator_in = g.channel_pitch.pwm_to_angle_dz(0);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_elevator, elevator_in);
// this aileron variant assumes you have the corresponding
// input channel setup in your transmitter for manual control
// of the 2nd aileron
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input);
// do the same for the corresponding elevator variant
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_elevator_with_input);
// copy flap control from transmitter
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_flap_auto);
@ -466,6 +473,10 @@ static void set_servos(void)
// both types of secondary aileron are slaved to the roll servo out
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, g.channel_roll.servo_out);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron_with_input, g.channel_roll.servo_out);
// both types of secondary elevator are slaved to the pitch servo out
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_elevator, g.channel_pitch.servo_out);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_elevator_with_input, g.channel_pitch.servo_out);
}else{
/*Elevon mode*/
float ch1;

1
ArduPlane/failsafe.pde
View File

@ -48,5 +48,6 @@ void failsafe_check(uint32_t tnow)
}
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_manual, true);
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input, true);
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_elevator_with_input, true);
}
}

3
ArduPlane/radio.pde
View File

@ -183,10 +183,11 @@ static void trim_control_surfaces()
g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
}
// the secondary aileron is trimmed only if it has a
// the secondary aileron/elevator is trimmed only if it has a
// corresponding transmitter input channel, which k_aileron
// doesn't have
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;