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Added GIMBAL_MIXTILT (16) to gimbal_flags. Setting gimbal_flags=16 will use "mixed" gimbal i.e. SERVO_MIX_TILT from MultiWii. Untested, but should work(tm). 

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@239 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2012-12-27 13:23:43 +00:00
parent e7bc3cc38e
commit 006e6629f6
3 changed files with 2864 additions and 2854 deletions
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5708
obj/baseflight.hex
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File diff suppressed because it is too large Load Diff

9
src/mixer.c
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@ -346,8 +346,13 @@ void mixTable(void)
servo[1] = cfg.gimbal_roll_mid + aux[1];
if (rcOptions[BOXCAMSTAB]) {
servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16;
servo[1] += cfg.gimbal_roll_gain * angle[ROLL] / 16;
if (cfg.gimbal_flags & GIMBAL_MIXTILT) {
servo[0] = (-cfg.gimbal_roll_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16;
servo[1] = (-cfg.gimbal_roll_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16;
} else {
servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16;
servo[1] += cfg.gimbal_roll_gain * angle[ROLL] / 16;
}
}
servo[0] = constrain(servo[0], cfg.gimbal_pitch_min, cfg.gimbal_pitch_max);

1
src/mw.h
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@ -47,6 +47,7 @@ typedef enum GimbalFlags {
GIMBAL_TILTONLY = 1 << 1,
GIMBAL_DISABLEAUX34 = 1 << 2,
GIMBAL_FORWARDAUX = 1 << 3,
GIMBAL_MIXTILT = 1 << 4,
} GimbalFlags;
/*********** RC alias *****************/