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

src/cli.c

@@ -153,6 +153,7 @@ const clivalue_t valueTable[] = {
     { "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 },
     { "failsafe_detect_threshold", VAR_UINT16, &cfg.failsafe_detect_threshold, 100, 2000 },
     { "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_min", VAR_UINT16, &cfg.tri_yaw_min, 0, 2000 },
     { "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },

src/config.c

@@ -13,7 +13,7 @@ master_t mcfg;  // master config struct with data independent from profiles
 config_t cfg;   // profile config struct
 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 void resetConf(void);
 
@@ -274,6 +274,7 @@ static void resetConf(void)
 
     // servos
     cfg.yaw_direction = 1;
+    cfg.tri_unarmed_servo = 1;
     cfg.tri_yaw_middle = 1500;
     cfg.tri_yaw_min = 1020;
     cfg.tri_yaw_max = 2000;

src/mixer.c

@@ -206,7 +206,16 @@ void writeServos(void)
             break;
 
         case MULTITYPE_TRI:
+            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;
 
         case MULTITYPE_AIRPLANE:

src/mw.h

@@ -189,6 +189,7 @@ typedef struct config_t {
 
     // mixer-related configuration
     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_min;                   // tail servo min
     uint16_t tri_yaw_max;                   // tail servo max