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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

This commit is contained in:
Michael Oborne 2011-10-09 21:30:56 +08:00
parent 6797510236 865bb34657
commit c1854eeb32
1 changed files with 29 additions and 26 deletions
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55
ArduPlane/Attitude.pde
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@ -351,35 +351,38 @@ static void set_servos(void)
radio_out[CH_THROTTLE] = radio_max(CH_THROTTLE) + radio_min(CH_THROTTLE) - radio_out[CH_THROTTLE];
#endif
*/
throttle_slew_limit();
}
if(control_mode < FLY_BY_WIRE_B) {
// only use radio_in if the channel is not used as flight_mode_channel
if (g_rc_function[RC_Channel_aux::k_flap_auto] != rc_array[g.flight_mode_channel-1]) {
G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
} else {
G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_trim;
}
} else if (control_mode >= FLY_BY_WIRE_B) {
if (control_mode == FLY_BY_WIRE_B) {
flapSpeedSource = airspeed_fbwB/100;
} else if (g.airspeed_enabled == true) {
flapSpeedSource = g.airspeed_cruise/100;
} else {
flapSpeedSource = g.throttle_cruise;
// Auto flap deployment
if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) {
if(control_mode < FLY_BY_WIRE_B) {
// only use radio_in if the channel is not used as flight_mode_channel
if (g_rc_function[RC_Channel_aux::k_flap_auto] != rc_array[g.flight_mode_channel-1]) {
g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
} else {
g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_trim;
}
} else if (control_mode >= FLY_BY_WIRE_B) {
if (control_mode == FLY_BY_WIRE_B) {
flapSpeedSource = airspeed_fbwB/100;
} else if (g.airspeed_enabled == true) {
flapSpeedSource = g.airspeed_cruise/100;
} else {
flapSpeedSource = g.throttle_cruise;
}
if ( flapSpeedSource > g.flap_1_speed) {
g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = 0;
} else if (flapSpeedSource > g.flap_2_speed) {
g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_1_percent;
} else {
g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_2_percent;
}
g_rc_function[RC_Channel_aux::k_flap_auto]->calc_pwm();
}
if ( flapSpeedSource > g.flap_1_speed) {
G_RC_AUX(k_flap_auto)->servo_out = 0;
} else if (flapSpeedSource > g.flap_2_speed) {
G_RC_AUX(k_flap_auto)->servo_out = g.flap_1_percent;
} else {
G_RC_AUX(k_flap_auto)->servo_out = g.flap_2_percent;
}
G_RC_AUX(k_flap_auto)->calc_pwm();
}
#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
// send values to the PWM timers for output
// ----------------------------------------
@ -393,7 +396,7 @@ static void set_servos(void)
g.rc_7.output_ch(CH_7);
g.rc_8.output_ch(CH_8);
#endif
}
}
static void demo_servos(byte i) {