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Allow servo rules to use stabilised controlled throttle (e.g. for I.C 

planes).

Note: The code ported from baseflight appears broken.
This commit is contained in:
Dominic Clifton 2015-07-08 15:25:12 +01:00
parent 774a36a2d5
commit 1431dfad7c
1 changed files with 5 additions and 5 deletions
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10
src/main/flight/mixer.c
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@ -391,11 +391,11 @@ int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
return servoConf[servoIndex].middle; return servoConf[servoIndex].middle;
} }
// FIXME rename 'fromChannel' to inputSource
int servoDirection(int servoIndex, int fromChannel) int servoDirection(int servoIndex, int inputSource)
{ {
// determine the direction (reversed or not) from the direction bitfield of the servo // determine the direction (reversed or not) from the direction bitfield of the servo
if (servoConf[servoIndex].reversedSources & (1 << fromChannel)) if (servoConf[servoIndex].reversedSources & (1 << inputSource))
return -1; return -1;
else else
return 1; return 1;
@ -701,7 +701,7 @@ void StopPwmAllMotors()
#ifndef USE_QUAD_MIXER_ONLY #ifndef USE_QUAD_MIXER_ONLY
static void servoMixer(void) static void servoMixer(void)
{ {
int16_t input[INPUT_SOURCE_COUNT]; int16_t input[INPUT_SOURCE_COUNT]; // Range [-500:+500]
static int16_t currentOutput[MAX_SERVO_RULES]; static int16_t currentOutput[MAX_SERVO_RULES];
uint8_t i; uint8_t i;
@ -725,7 +725,7 @@ static void servoMixer(void)
input[INPUT_GIMBAL_PITCH] = scaleRange(inclination.values.pitchDeciDegrees, -1800, 1800, -500, +500); input[INPUT_GIMBAL_PITCH] = scaleRange(inclination.values.pitchDeciDegrees, -1800, 1800, -500, +500);
input[INPUT_GIMBAL_ROLL] = scaleRange(inclination.values.rollDeciDegrees, -1800, 1800, -500, +500); input[INPUT_GIMBAL_ROLL] = scaleRange(inclination.values.rollDeciDegrees, -1800, 1800, -500, +500);
input[INPUT_STABILIZED_THROTTLE] = motor[0]; input[INPUT_STABILIZED_THROTTLE] = motor[0] - 1000 - 500; // Since it derives from rcCommand or mincommand and must be [-500:+500]
// center the RC input value around the RC middle value // center the RC input value around the RC middle value
// by subtracting the RC middle value from the RC input value, we get: // by subtracting the RC middle value from the RC input value, we get: