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added (untested) flag to disable tricopter servo updates when unarmed. 

tri_unarmed_servo to 1 (default) always updates tri servo whether armed or not.
tri_unarmed_servo to 0 will only send servo signal to tail servo when armed.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@392 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-09-06 00:03:32 +00:00
parent 509e349e69
commit 929bbc8c3f
5 changed files with 31 additions and 19 deletions
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1
src/cli.c
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@ -153,6 +153,7 @@ const clivalue_t valueTable[] = {
{ "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 }, { "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 },
{ "failsafe_detect_threshold", VAR_UINT16, &cfg.failsafe_detect_threshold, 100, 2000 }, { "failsafe_detect_threshold", VAR_UINT16, &cfg.failsafe_detect_threshold, 100, 2000 },
{ "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 }, { "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
{ "tri_unarmed_servo", VAR_INT8, &cfg.tri_unarmed_servo, 0, 1 },
{ "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 }, { "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 },
{ "tri_yaw_min", VAR_UINT16, &cfg.tri_yaw_min, 0, 2000 }, { "tri_yaw_min", VAR_UINT16, &cfg.tri_yaw_min, 0, 2000 },
{ "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 }, { "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },

3
src/config.c
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@ -13,7 +13,7 @@ master_t mcfg; // master config struct with data independent from profiles
config_t cfg; // profile config struct config_t cfg; // profile config struct
const char rcChannelLetters[] = "AERT1234"; const char rcChannelLetters[] = "AERT1234";
static const uint8_t EEPROM_CONF_VERSION = 49; static const uint8_t EEPROM_CONF_VERSION = 50;
static uint32_t enabledSensors = 0; static uint32_t enabledSensors = 0;
static void resetConf(void); static void resetConf(void);
@ -274,6 +274,7 @@ static void resetConf(void)
// servos // servos
cfg.yaw_direction = 1; cfg.yaw_direction = 1;
cfg.tri_unarmed_servo = 1;
cfg.tri_yaw_middle = 1500; cfg.tri_yaw_middle = 1500;
cfg.tri_yaw_min = 1020; cfg.tri_yaw_min = 1020;
cfg.tri_yaw_max = 2000; cfg.tri_yaw_max = 2000;

34
src/drv_pwm.c
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@ -151,23 +151,23 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
switch (channel) { switch (channel) {
case TIM_Channel_1: case TIM_Channel_1:
TIM_OC1Init(tim, &TIM_OCInitStructure); TIM_OC1Init(tim, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable); TIM_OC1PreloadConfig(tim, TIM_OCPreload_Enable);
break; break;
case TIM_Channel_2: case TIM_Channel_2:
TIM_OC2Init(tim, &TIM_OCInitStructure); TIM_OC2Init(tim, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable); TIM_OC2PreloadConfig(tim, TIM_OCPreload_Enable);
break; break;
case TIM_Channel_3: case TIM_Channel_3:
TIM_OC3Init(tim, &TIM_OCInitStructure); TIM_OC3Init(tim, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable); TIM_OC3PreloadConfig(tim, TIM_OCPreload_Enable);
break; break;
case TIM_Channel_4: case TIM_Channel_4:
TIM_OC4Init(tim, &TIM_OCInitStructure); TIM_OC4Init(tim, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable); TIM_OC4PreloadConfig(tim, TIM_OCPreload_Enable);
break; break;
} }
} }

11
src/mixer.c
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@ -206,7 +206,16 @@ void writeServos(void)
break; break;
case MULTITYPE_TRI: case MULTITYPE_TRI:
pwmWriteServo(0, servo[5]); if (cfg.tri_unarmed_servo) {
// if unarmed flag set, we always move servo
pwmWriteServo(0, servo[5]);
} else {
// otherwise, only move servo when copter is armed
if (f.ARMED)
pwmWriteServo(0, servo[5]);
else
pwmWriteServo(0, 0); // kill servo signal completely.
}
break; break;
case MULTITYPE_AIRPLANE: case MULTITYPE_AIRPLANE:

1
src/mw.h
View File

@ -189,6 +189,7 @@ typedef struct config_t {
// mixer-related configuration // mixer-related configuration
int8_t yaw_direction; int8_t yaw_direction;
uint8_t tri_unarmed_servo; // send tail servo correction pulses even when unarmed
uint16_t tri_yaw_middle; // tail servo center pos. - use this for initial trim uint16_t tri_yaw_middle; // tail servo center pos. - use this for initial trim
uint16_t tri_yaw_min; // tail servo min uint16_t tri_yaw_min; // tail servo min
uint16_t tri_yaw_max; // tail servo max uint16_t tri_yaw_max; // tail servo max