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More optimizations 

I forgot these ones.
This commit is contained in:
Amilcar Lucas 2011-10-09 15:33:10 +02:00
parent 42431fd227
commit ea27d1604a
1 changed files with 12 additions and 8 deletions
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20
ArduPlane/Attitude.pde
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@ -287,15 +287,19 @@ static void set_servos(void)
g.channel_rudder.radio_out = g.channel_rudder.radio_in;
// FIXME To me it does not make sense to control the aileron using radio_in in manual mode
// Doug could you please take a look at this ?
if (g_rc_function[RC_Channel_aux::k_aileron] != rc_array[g.flight_mode_channel-1]) {
G_RC_AUX(k_aileron)->radio_out = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;
}
if (g_rc_function[RC_Channel_aux::k_aileron]) {
if (g_rc_function[RC_Channel_aux::k_aileron] != rc_array[g.flight_mode_channel-1]) {
g_rc_function[RC_Channel_aux::k_aileron]->radio_out = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;
}
}
// 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;
}
if (g_rc_function[RC_Channel_aux::k_flap_auto]) {
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 (g.mix_mode == 0) {
g.channel_roll.calc_pwm();