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APM: Added functionality to use differential spoilers in elevon mode

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spoiler 1 and 2 are connected to 2 auxiliary channels, functions are
set to 16 on left wing and 17 om right wing respectively. Worked in
FBW + mode (auto etc.). No manual mode supported yet (need more
channels in my case).
This commit is contained in:
Xichen Shi 2012-10-02 21:40:45 -05:00 committed by Andrew Tridgell
parent e9f129786a
commit f1fd7479bd
3 changed files with 24 additions and 0 deletions
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16
ArduPlane/Attitude.pde
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@ -362,6 +362,8 @@ static void set_servos(void)
// Doug could you please take a look at this ?
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron);
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_flap_auto);
//RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_dspoiler1);
//RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_dspoiler2);
} else {
if (g.mix_mode == 0) {
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, g.channel_roll.servo_out);
@ -371,6 +373,20 @@ static void set_servos(void)
float ch2;
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);
/*Differntial Spoilers*/
if(RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler1) && RC_Channel_aux::function_assigned(RC_Channel_aux::k_dspoiler2)) {
float ch3 = ch1;
float ch4 = ch2;
if( BOOL_TO_SIGN(g.reverse_elevons) * g.channel_rudder.servo_out < 0) {
ch1 += abs(g.channel_rudder.servo_out);
ch3 -= abs(g.channel_rudder.servo_out);
} else {
ch2 += abs(g.channel_rudder.servo_out);
ch4 -= abs(g.channel_rudder.servo_out);
}
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_dspoiler1, ch3);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_dspoiler2, ch4);
} // spoiler deployed
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));
}

6
libraries/RC_Channel/RC_Channel_aux.cpp
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@ -71,6 +71,12 @@ void update_aux_servo_function( RC_Channel_aux* rc_a,
case RC_Channel_aux::k_aileron:
_aux_channels[i]->set_angle(4500);
break;
case RC_Channel_aux::k_dspoiler1:
_aux_channels[i]->set_angle(4500);
break;
case RC_Channel_aux::k_dspoiler2:
_aux_channels[i]->set_angle(4500);
break;
default:
break;
}

2
libraries/RC_Channel/RC_Channel_aux.h
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@ -41,6 +41,8 @@ public:
k_mount2_tilt = 13, ///< mount2 pitch (tilt)
k_mount2_roll = 14, ///< mount2 roll
k_mount2_open = 15, ///< mount2 open (deploy) / close (retract)
k_dspoiler1 = 16, ///< differential spoiler 1 (left wing)
k_dspoiler2 = 17, ///< differential spoiler 2 (right wing)
k_nr_aux_servo_functions ///< This must be the last enum value (only add new values _before_ this one)
} Aux_servo_function_t;