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APM: added a new type of auxilary aileron, with rc input

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a AileronWithInput assumes you have setup your RC transmitter to give
the right trim and input on the secondary aileron
This commit is contained in:
Andrew Tridgell 2012-11-21 11:48:46 +11:00
parent d2170230f4
commit fcbd3a823b
2 changed files with 12 additions and 1 deletions
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7
ArduPlane/Attitude.pde
View File

@ -368,6 +368,11 @@ static void set_servos(void)
int16_t aileron_in = g.channel_roll.pwm_to_angle_dz(0); 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); RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, aileron_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);
// copy flap control from transmitter // copy flap control from transmitter
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_flap_auto); RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_flap_auto);
@ -379,7 +384,9 @@ static void set_servos(void)
} }
} else { } else {
if (g.mix_mode == 0) { if (g.mix_mode == 0) {
// 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, g.channel_roll.servo_out);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron_with_input, g.channel_roll.servo_out);
}else{ }else{
/*Elevon mode*/ /*Elevon mode*/
float ch1; float ch1;

6
ArduPlane/radio.pde
View File

@ -169,7 +169,11 @@ static void trim_control_surfaces()
if(g.mix_mode == 0) { if(g.mix_mode == 0) {
g.channel_roll.radio_trim = g.channel_roll.radio_in; g.channel_roll.radio_trim = g.channel_roll.radio_in;
g.channel_pitch.radio_trim = g.channel_pitch.radio_in; g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_aileron);
// the secondary aileron 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);
} else{ } else{
elevon1_trim = ch1_temp; elevon1_trim = ch1_temp;
elevon2_trim = ch2_temp; elevon2_trim = ch2_temp;