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Plane: support auto trim for separate elevon and vtail channels

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this supports SERVO_AUTO_TRIM=1 for elevons and vtails setup using the
new separate functions
This commit is contained in:
Andrew Tridgell 2017-04-19 22:06:20 +10:00
parent b4ffcfa6bd
commit be1b50d6e2
1 changed files with 11 additions and 2 deletions
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13
ArduPlane/servos.cpp
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@ -876,9 +876,18 @@ void Plane::servos_auto_trim(void)
}
// adjust trim on channels by a small amount according to I value
g2.servo_channels.adjust_trim(SRV_Channel::k_aileron, rollController.get_pid_info().I);
g2.servo_channels.adjust_trim(SRV_Channel::k_elevator, pitchController.get_pid_info().I);
float roll_I = rollController.get_pid_info().I;
float pitch_I = pitchController.get_pid_info().I;
g2.servo_channels.adjust_trim(SRV_Channel::k_aileron, roll_I);
g2.servo_channels.adjust_trim(SRV_Channel::k_elevator, pitch_I);
g2.servo_channels.adjust_trim(SRV_Channel::k_elevon_left, pitch_I - roll_I);
g2.servo_channels.adjust_trim(SRV_Channel::k_elevon_right, pitch_I + roll_I);
g2.servo_channels.adjust_trim(SRV_Channel::k_vtail_left, pitch_I);
g2.servo_channels.adjust_trim(SRV_Channel::k_vtail_right, pitch_I);
auto_trim.last_trim_check = now;
if (now - auto_trim.last_trim_save > 10000) {