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Plane: simplify the VTail mixer to be more like a hardware mixer

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this should make it easier to trim the vtail
This commit is contained in:
Andrew Tridgell 2013-04-05 15:47:35 +11:00
parent 95d944f610
commit bd2b9fbe9d
1 changed files with 11 additions and 22 deletions
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33
ArduPlane/Attitude.pde
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@ -511,26 +511,15 @@ static bool suppress_throttle(void)
*/
static void vtail_output_mixing(void)
{
float elevator, rudder;
float v1, v2;
int16_t elevator, rudder;
int16_t v1, v2;
// first get desired elevator and rudder as -1..1 values
elevator = g.channel_pitch.radio_out - g.channel_pitch.radio_trim;
if (elevator > 0) {
elevator /= float(g.channel_pitch.radio_max - g.channel_pitch.radio_trim);
} else {
elevator /= float(g.channel_pitch.radio_trim - g.channel_pitch.radio_min);
}
// first get desired elevator and rudder as -500..500 values
elevator = g.channel_pitch.radio_out - 1500;
rudder = g.channel_rudder.radio_out - 1500;
rudder = g.channel_rudder.radio_out - g.channel_rudder.radio_trim;
if (rudder > 0) {
rudder /= float(g.channel_rudder.radio_max - g.channel_rudder.radio_trim);
} else {
rudder /= float(g.channel_rudder.radio_trim - g.channel_rudder.radio_min);
}
v1 = (elevator - rudder)*0.5f;
v2 = (elevator + rudder)*0.5f;
v1 = (elevator - rudder)/2;
v2 = (elevator + rudder)/2;
// now map to vtail output
switch (g.vtail_output) {
@ -554,12 +543,12 @@ static void vtail_output_mixing(void)
break;
}
v1 = constrain(v1, -1.0f, 1.0f);
v2 = constrain(v2, -1.0f, 1.0f);
v1 = constrain_int16(v1, -500, 500);
v2 = constrain_int16(v2, -500, 500);
// scale for a 1500 center and 1000..2000 range, symmetric
g.channel_pitch.radio_out = 1500 + 500.0f*v1;
g.channel_rudder.radio_out = 1500 + 500.0f*v2;
g.channel_pitch.radio_out = 1500 + v1;
g.channel_rudder.radio_out = 1500 + v2;
}
/*****************************************