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Plane: added ELEVON_OUTPUT option

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this is like the vtail mixer, but for elevons
This commit is contained in:
Andrew Tridgell 2013-04-28 20:49:53 +10:00
parent 76d0f7f74d
commit 3d7a4d0e6e
5 changed files with 42 additions and 29 deletions
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42
ArduPlane/Attitude.pde
View File

@ -485,37 +485,37 @@ static bool suppress_throttle(void)
}
/*
implement a software VTail mixer. There are 4 different mixing modes
implement a software VTail or elevon mixer. There are 4 different mixing modes
*/
static void vtail_output_mixing(void)
static void channel_output_mixer(uint8_t mixing_type, int16_t &chan1_out, int16_t &chan2_out)
{
int16_t elevator, rudder;
int16_t c1, c2;
int16_t v1, v2;
// first get desired elevator and rudder as -500..500 values
elevator = g.channel_pitch.radio_out - 1500;
rudder = g.channel_rudder.radio_out - 1500;
c1 = chan1_out - 1500;
c2 = chan2_out - 1500;
v1 = (elevator - rudder)/2;
v2 = (elevator + rudder)/2;
v1 = (c1 - c2)/2;
v2 = (c1 + c2)/2;
// now map to vtail output
switch (g.vtail_output) {
case VTAIL_DISABLED:
// now map to mixed output
switch (mixing_type) {
case MIXING_DISABLED:
return;
case VTAIL_UPUP:
case MIXING_UPUP:
break;
case VTAIL_UPDN:
case MIXING_UPDN:
v2 = -v2;
break;
case VTAIL_DNUP:
case MIXING_DNUP:
v1 = -v1;
break;
case VTAIL_DNDN:
case MIXING_DNDN:
v1 = -v1;
v2 = -v2;
break;
@ -525,8 +525,8 @@ static void vtail_output_mixing(void)
v2 = constrain_int16(v2, -500, 500);
// scale for a 1500 center and 1000..2000 range, symmetric
g.channel_pitch.radio_out = 1500 + v1;
g.channel_rudder.radio_out = 1500 + v2;
chan1_out = 1500 + v1;
chan2_out = 1500 + v2;
}
/*****************************************
@ -538,7 +538,7 @@ static void set_servos(void)
if (control_mode == MANUAL) {
// do a direct pass through of radio values
if (g.mix_mode == 0) {
if (g.mix_mode == 0 || g.elevon_output != MIXING_DISABLED) {
g.channel_roll.radio_out = g.channel_roll.radio_in;
g.channel_pitch.radio_out = g.channel_pitch.radio_in;
} else {
@ -572,7 +572,7 @@ static void set_servos(void)
// copy flap control from transmitter
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_flap_auto);
if (g.mix_mode != 0) {
if (g.mix_mode == 0 && g.elevon_output == MIXING_DISABLED) {
// set any differential spoilers to follow the elevons in
// manual mode.
RC_Channel_aux::set_radio(RC_Channel_aux::k_dspoiler1, g.channel_roll.radio_out);
@ -710,8 +710,10 @@ static void set_servos(void)
}
#endif
if (g.vtail_output != VTAIL_DISABLED) {
vtail_output_mixing();
if (g.vtail_output != MIXING_DISABLED) {
channel_output_mixer(g.vtail_output, g.channel_pitch.radio_out, g.channel_rudder.radio_out);
} else if (g.elevon_output != MIXING_DISABLED) {
channel_output_mixer(g.elevon_output, g.channel_pitch.radio_out, g.channel_roll.radio_out);
}
// send values to the PWM timers for output

2
ArduPlane/Parameters.h
View File

@ -85,6 +85,7 @@ public:
k_param_hil_servos,
k_param_vtail_output,
k_param_nav_controller,
k_param_elevon_output,
// 110: Telemetry control
//
@ -329,6 +330,7 @@ public:
AP_Int8 auto_trim;
AP_Int8 mix_mode;
AP_Int8 vtail_output;
AP_Int8 elevon_output;
AP_Int8 reverse_elevons;
AP_Int8 reverse_ch1_elevon;
AP_Int8 reverse_ch2_elevon;

9
ArduPlane/Parameters.pde
View File

@ -440,7 +440,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: ELEVON_MIXING
// @DisplayName: Elevon mixing
// @Description: Enable elevon mixing on both input and output
// @Description: Enable elevon mixing on both input and output. To enable just output mixing see the ELEVON_OUTPUT option.
// @Values: 0:Disabled,1:Enabled
// @User: User
GSCALAR(mix_mode, "ELEVON_MIXING", ELEVON_MIXING),
@ -474,6 +474,13 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: User
GSCALAR(vtail_output, "VTAIL_OUTPUT", 0),
// @Param: ELEVON_OUTPUT
// @DisplayName: Elevon output
// @Description: Enable software elevon output mixer. If enabled then the APM will provide software elevon mixing on the aileron and elevator channels. There are 4 different mixing modes available, which refer to the 4 ways the elevator can be mapped to the two elevon servos. Note that you must not use elevon output mixing with hardware pass-through of RC values, such as with channel 8 manual control on an APM1. So if you use an APM1 then set FLTMODE_CH to something other than 8 before you enable ELEVON_OUTPUT.
// @Values: 0:Disabled,1:UpUp,2:UpDown,3:DownUp,4:DownDown
// @User: User
GSCALAR(elevon_output, "ELEVON_OUTPUT", 0),
// @Param: SYS_NUM_RESETS
// @DisplayName: Num Resets
// @Description: Number of APM board resets

12
ArduPlane/defines.h
View File

@ -82,12 +82,12 @@ enum StickMixing {
STICK_MIXING_DIRECT = 2
};
enum VTailMixing {
VTAIL_DISABLED = 0,
VTAIL_UPUP = 1,
VTAIL_UPDN = 2,
VTAIL_DNUP = 3,
VTAIL_DNDN = 4
enum ChannelMixing {
MIXING_DISABLED = 0,
MIXING_UPUP = 1,
MIXING_UPDN = 2,
MIXING_DNUP = 3,
MIXING_DNDN = 4
};
// Commands - Note that APM now uses a subset of the MAVLink protocol

6
ArduPlane/failsafe.pde
View File

@ -43,8 +43,10 @@ void failsafe_check(uint32_t tnow)
g.channel_pitch.radio_out = hal.rcin->read(CH_2);
g.channel_throttle.radio_out = hal.rcin->read(CH_3);
g.channel_rudder.radio_out = hal.rcin->read(CH_4);
if (g.vtail_output != VTAIL_DISABLED) {
vtail_output_mixing();
if (g.vtail_output != MIXING_DISABLED) {
channel_output_mixer(g.vtail_output, g.channel_pitch.radio_out, g.channel_rudder.radio_out);
} else if (g.elevon_output != MIXING_DISABLED) {
channel_output_mixer(g.elevon_output, g.channel_pitch.radio_out, g.channel_roll.radio_out);
}
if (!demoing_servos) {
servo_write(CH_1, g.channel_roll.radio_out);