mirror of https://github.com/ArduPilot/ardupilot
Merge branch 'master' of https://code.google.com/p/ardupilot-mega
This commit is contained in:
commit
c1854eeb32
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@ -355,12 +355,14 @@ static void set_servos(void)
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throttle_slew_limit();
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throttle_slew_limit();
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}
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}
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// Auto flap deployment
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if (g_rc_function[RC_Channel_aux::k_flap_auto] != NULL) {
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if(control_mode < FLY_BY_WIRE_B) {
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if(control_mode < FLY_BY_WIRE_B) {
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// only use radio_in if the channel is not used as flight_mode_channel
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// only use radio_in if the channel is not used as flight_mode_channel
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if (g_rc_function[RC_Channel_aux::k_flap_auto] != rc_array[g.flight_mode_channel-1]) {
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if (g_rc_function[RC_Channel_aux::k_flap_auto] != rc_array[g.flight_mode_channel-1]) {
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G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
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g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
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} else {
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} else {
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G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_trim;
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g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_trim;
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}
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}
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} else if (control_mode >= FLY_BY_WIRE_B) {
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} else if (control_mode >= FLY_BY_WIRE_B) {
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if (control_mode == FLY_BY_WIRE_B) {
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if (control_mode == FLY_BY_WIRE_B) {
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@ -371,13 +373,14 @@ static void set_servos(void)
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flapSpeedSource = g.throttle_cruise;
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flapSpeedSource = g.throttle_cruise;
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}
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}
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if ( flapSpeedSource > g.flap_1_speed) {
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if ( flapSpeedSource > g.flap_1_speed) {
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G_RC_AUX(k_flap_auto)->servo_out = 0;
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g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = 0;
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} else if (flapSpeedSource > g.flap_2_speed) {
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} else if (flapSpeedSource > g.flap_2_speed) {
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G_RC_AUX(k_flap_auto)->servo_out = g.flap_1_percent;
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g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_1_percent;
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} else {
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} else {
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G_RC_AUX(k_flap_auto)->servo_out = g.flap_2_percent;
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g_rc_function[RC_Channel_aux::k_flap_auto]->servo_out = g.flap_2_percent;
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}
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g_rc_function[RC_Channel_aux::k_flap_auto]->calc_pwm();
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}
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}
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G_RC_AUX(k_flap_auto)->calc_pwm();
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}
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}
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#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
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#if HIL_MODE == HIL_MODE_DISABLED || HIL_SERVOS
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