adding untested (and probably non-working) airplane mixer from mwc 2.3

flaperons not implemented (too hacky)
flaps should work

src/cli.c

@@ -121,6 +121,7 @@ const clivalue_t valueTable[] = {
     { "motor_pwm_rate", VAR_UINT16, &mcfg.motor_pwm_rate, 50, 498 },
     { "servo_pwm_rate", VAR_UINT16, &mcfg.servo_pwm_rate, 50, 498 },
     { "retarded_arm", VAR_UINT8, &mcfg.retarded_arm, 0, 1 },
+    { "flaps_speed", VAR_UINT8, &mcfg.flaps_speed, 0, 100 },
     { "serial_baudrate", VAR_UINT32, &mcfg.serial_baudrate, 1200, 115200 },
     { "softserial_baudrate", VAR_UINT32, &mcfg.softserial_baudrate, 9600, 19200 },
     { "softserial_inverted", VAR_UINT8, &mcfg.softserial_inverted, 0, 1 },

src/gps.c

@@ -78,6 +78,7 @@ gpsData_t gpsData;
 static void gpsNewData(uint16_t c);
 static bool gpsNewFrameNMEA(char c);
 static bool gpsNewFrameUBLOX(uint8_t data);
+
 static void gpsSetState(uint8_t state)
 {
     gpsData.state = state;

src/mixer.c

@@ -321,19 +321,16 @@ void writeAllMotors(int16_t mc)
 
 static void airplaneMixer(void)
 {
-#if 0
+    int16_t flapperons[2] = { 0, 0 };
-    uint16_t servomid[8];
+    int i;
-    int16_t flaperons[2] = { 0, 0 };
-
-    for (i = 0; i < 8; i++) {
-        servomid[i] = 1500 + cfg.servotrim[i]; // servo center is 1500?
-    }
 
     if (!f.ARMED)
-        motor[0] = cfg.mincommand; // Kill throttle when disarmed
+        servo[7] = mcfg.mincommand; // Kill throttle when disarmed
     else
-        motor[0] = rcData[THROTTLE];
+        servo[7] = constrain(rcCommand[THROTTLE], mcfg.minthrottle, mcfg.maxthrottle);
+    motor[0] = servo[7];
 
+#if 0
     if (cfg.flaperons) {
 
 
@@ -354,19 +351,41 @@ static void airplaneMixer(void)
         }
         servo[2] = servomid[2] + (slowFlaps * cfg.servoreverse[2]);
     }
+#endif
+
+    if (mcfg.flaps_speed) {
+        // configure SERVO3 middle point in GUI to using an AUX channel for FLAPS control
+        // use servo min, servo max and servo rate for proper endpoints adjust
+        static int16_t slow_LFlaps;
+        int16_t lFlap = servoMiddle(2);
+
+        lFlap = constrain(lFlap, cfg.servoConf[2].min, cfg.servoConf[2].max);
+        lFlap = mcfg.midrc - lFlap; // shouldn't this be servoConf[2].middle?
+        if (slow_LFlaps < lFlap)
+            slow_LFlaps += mcfg.flaps_speed;
+        else if (slow_LFlaps > lFlap)
+            slow_LFlaps -= mcfg.flaps_speed;
+
+        servo[2] = ((int32_t)cfg.servoConf[2].rate * slow_LFlaps) / 100L;
+        servo[2] += mcfg.midrc;
+    }
 
     if (f.PASSTHRU_MODE) {   // Direct passthru from RX
-        servo[3] = servomid[3] + ((rcCommand[ROLL] + flapperons[0]) * cfg.servoreverse[3]);     //   Wing 1
+        servo[3] = rcCommand[ROLL] + flapperons[0];     // Wing 1
-        servo[4] = servomid[4] + ((rcCommand[ROLL] + flapperons[1]) * cfg.servoreverse[4]);     //   Wing 2
+        servo[4] = rcCommand[ROLL] + flapperons[1];     // Wing 2
-        servo[5] = servomid[5] + (rcCommand[YAW] * cfg.servoreverse[5]);                        //   Rudder
+        servo[5] = rcCommand[YAW];                      // Rudder
-        servo[6] = servomid[6] + (rcCommand[PITCH] * cfg.servoreverse[6]);                      //   Elevator
+        servo[6] = rcCommand[PITCH];                    // Elevator
-    } else { // Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui
+    } else {
-        servo[3] = (servomid[3] + ((axisPID[ROLL] + flapperons[0]) * cfg.servoreverse[3]));     //   Wing 1
+        // Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui
-        servo[4] = (servomid[4] + ((axisPID[ROLL] + flapperons[1]) * cfg.servoreverse[4]));     //   Wing 2
+        servo[3] = axisPID[ROLL] + flapperons[0];       // Wing 1
-        servo[5] = (servomid[5] + (axisPID[YAW] * cfg.servoreverse[5]));                        //   Rudder
+        servo[4] = axisPID[ROLL] + flapperons[1];       // Wing 2
-        servo[6] = (servomid[6] + (axisPID[PITCH] * cfg.servoreverse[6]));                      //   Elevator
+        servo[5] = axisPID[YAW];                        // Rudder
+        servo[6] = axisPID[PITCH];                      // Elevator
+    }
+    for (i = 3; i < 7; i++) {
+        servo[i] = ((int32_t)cfg.servoConf[i].rate * servo[i]) / 100L; // servo rates
+        servo[i] += servoMiddle(i);
     }
-#endif
 }
 
 void mixTable(void)

src/mw.h

@@ -264,6 +264,7 @@ typedef struct master_t {
     uint16_t mincheck;                      // minimum rc end
     uint16_t maxcheck;                      // maximum rc end
     uint8_t retarded_arm;                   // allow disarsm/arm on throttle down + roll left/right
+    uint8_t flaps_speed;                    // airplane mode flaps, 0 = no flaps, > 0 = flap speed, larger = faster
 
     uint8_t rssi_aux_channel;               // Read rssi from channel. 1+ = AUX1+, 0 to disable.
 

src/serial.c

@@ -5,6 +5,7 @@
 #define MSP_VERSION              0
 #define CAP_PLATFORM_32BIT          ((uint32_t)1 << 31)
 #define CAP_DYNBALANCE              ((uint32_t)1 << 2)
+#define CAP_FLAPS                   ((uint32_t)1 << 3)
 
 #define MSP_IDENT                100    //out message         multitype + multiwii version + protocol version + capability variable
 #define MSP_STATUS               101    //out message         cycletime & errors_count & sensor present & box activation & current setting number
@@ -354,7 +355,7 @@ static void evaluateCommand(void)
         serialize8(VERSION);                // multiwii version
         serialize8(mcfg.mixerConfiguration); // type of multicopter
         serialize8(MSP_VERSION);            // MultiWii Serial Protocol Version
-        serialize32(CAP_PLATFORM_32BIT | CAP_DYNBALANCE);        // "capability"
+        serialize32(CAP_PLATFORM_32BIT | CAP_DYNBALANCE | (mcfg.flaps_speed ? CAP_FLAPS : 0));        // "capability"
         break;
     case MSP_STATUS:
         headSerialReply(11);