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Minor mixup cleanups.

This commit is contained in:
Dominic Clifton 2014-12-24 14:52:58 +00:00
parent ee19c1f071
commit 5e573c4071
1 changed files with 10 additions and 3 deletions
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13
src/main/flight/mixer.c
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@ -42,6 +42,9 @@
#include "config/runtime_config.h"
#include "config/config.h"
#define GIMBAL_SERVO_PITCH 0
#define GIMBAL_SERVO_ROLL 1
#define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT 4
static uint8_t motorCount = 0;
@ -512,7 +515,11 @@ void mixTable(void)
// motors for non-servo mixes
if (motorCount > 1)
for (i = 0; i < motorCount; i++)
motor[i] = rcCommand[THROTTLE] * currentMixer[i].throttle + axisPID[PITCH] * currentMixer[i].pitch + axisPID[ROLL] * currentMixer[i].roll + -mixerConfig->yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
motor[i] =
rcCommand[THROTTLE] * currentMixer[i].throttle +
axisPID[PITCH] * currentMixer[i].pitch +
axisPID[ROLL] * currentMixer[i].roll +
-mixerConfig->yaw_direction * axisPID[YAW] * currentMixer[i].yaw;
#ifndef USE_QUAD_MIXER_ONLY
// airplane / servo mixes
@ -527,8 +534,8 @@ void mixTable(void)
break;
case MIXER_GIMBAL:
servo[0] = (((int32_t)servoConf[0].rate * inclination.values.pitchDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(0);
servo[1] = (((int32_t)servoConf[1].rate * inclination.values.rollDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(1);
servo[GIMBAL_SERVO_PITCH] = (((int32_t)servoConf[GIMBAL_SERVO_PITCH].rate * inclination.values.pitchDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(GIMBAL_SERVO_PITCH);
servo[GIMBAL_SERVO_ROLL] = (((int32_t)servoConf[GIMBAL_SERVO_ROLL].rate * inclination.values.rollDeciDegrees) / 50) + determineServoMiddleOrForwardFromChannel(GIMBAL_SERVO_ROLL);
break;
case MIXER_AIRPLANE: