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Plane: use set_radio_trimmed() for flaperons

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See discussion in issue #1425
This commit is contained in:
Kirill A. Kornilov 2014-11-25 08:20:10 +11:00 committed by Andrew Tridgell
parent 33e4f44434
commit 8071d7c1d3
1 changed files with 10 additions and 23 deletions
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ArduPlane/Attitude.pde
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@ -684,34 +684,21 @@ static void flaperon_update(int8_t flap_percent)
flaperons are implemented as a mixer between aileron and a
percentage of flaps. Flap input can come from a manual channel
or from auto flaps.
Use k_flaperon1 and k_flaperon2 channel trims to center servos.
Then adjust aileron trim for level flight (note that aileron trim is affected
by mixing gain). flapin_channel's trim is not used.
*/
// first map the amount of aileron roll to a 1000..2000 value. We
// center it on 1500 so that using trim on the roll channel will
// have an affect on the flaperon roll output. We also scale it
// for the roll min/max range, so that transmitters with a small
// range of outputs can command flaperons with full output range.
ch1 = 1500 + ((channel_roll->radio_out - 1500) * 1000.0f / (channel_roll->radio_max - channel_roll->radio_min));
// now map flap percentage to a 1000..2000 value
ch1 = channel_roll->radio_out;
// The *5 is to take a percentage to a value from -500 to 500 for the mixer
ch2 = 1500 - flap_percent * 5;
// run the mixer
channel_output_mixer(g.flaperon_output, ch1, ch2);
// the mixer gives us a value from 900 to 2100 for each channel We
// now need to map that onto a -4500 to 4500 angle. We use a ratio
// of 9 so that for a MIXING_GAIN of 1.0 we get pass-thru of
// ailerons with no flaps
ch1 = (ch1 - 1500) * 9;
ch2 = (ch2 - 1500) * 9;
// and now let the trims and ranges of the flaperon output
// channels take effect to map this to PWM values
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flaperon1, ch1);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flaperon2, ch2);
RC_Channel_aux::set_radio_trimmed(RC_Channel_aux::k_flaperon1, ch1);
RC_Channel_aux::set_radio_trimmed(RC_Channel_aux::k_flaperon2, ch2);
}
/*****************************************
* Set the flight control servos based on the current calculated values
*****************************************/