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Add throttle servo for internal combustion powered airplanes to default 

airplane servo mixes.

Also corrects names for BICOPTER; BIPLANE was mistakenly used.
This commit is contained in:
Dominic Clifton 2015-07-08 16:59:47 +01:00
parent 7b91524ba2
commit edeaf37031
2 changed files with 28 additions and 32 deletions
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58
src/main/flight/mixer.c
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@ -63,8 +63,8 @@ typedef enum {
SERVO_ELEVATOR = 6, SERVO_ELEVATOR = 6,
SERVO_THROTTLE = 7, // for internal combustion (IC) planes SERVO_THROTTLE = 7, // for internal combustion (IC) planes
SERVO_BIPLANE_LEFT = 4, SERVO_BICOPTER_LEFT = 4,
SERVO_BIPLANE_RIGHT = 5, SERVO_BICOPTER_RIGHT = 5,
SERVO_DUALCOPTER_LEFT = 4, SERVO_DUALCOPTER_LEFT = 4,
SERVO_DUALCOPTER_RIGHT = 5, SERVO_DUALCOPTER_RIGHT = 5,
@ -77,7 +77,7 @@ typedef enum {
} servoIndex_e; } servoIndex_e;
#define SERVO_PLANE_INDEX_MIN SERVO_FLAPS #define SERVO_PLANE_INDEX_MIN SERVO_FLAPS
#define SERVO_PLANE_INDEX_MAX SERVO_ELEVATOR #define SERVO_PLANE_INDEX_MAX SERVO_THROTTLE
#define SERVO_DUALCOPTER_INDEX_MIN SERVO_DUALCOPTER_LEFT #define SERVO_DUALCOPTER_INDEX_MIN SERVO_DUALCOPTER_LEFT
#define SERVO_DUALCOPTER_INDEX_MAX SERVO_DUALCOPTER_RIGHT #define SERVO_DUALCOPTER_INDEX_MAX SERVO_DUALCOPTER_RIGHT
@ -123,7 +123,7 @@ static const motorMixer_t mixerQuadX[] = {
{ 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L { 1.0f, 1.0f, -1.0f, -1.0f }, // FRONT_L
}; };
#ifndef USE_QUAD_MIXER_ONLY #ifndef USE_QUAD_MIXER_ONLY
static const motorMixer_t mixerTri[] = { static const motorMixer_t mixerTricopter[] = {
{ 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR { 1.0f, 0.0f, 1.333333f, 0.0f }, // REAR
{ 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT { 1.0f, -1.0f, -0.666667f, 0.0f }, // RIGHT
{ 1.0f, 1.0f, -0.666667f, 0.0f }, // LEFT { 1.0f, 1.0f, -0.666667f, 0.0f }, // LEFT
@ -136,7 +136,7 @@ static const motorMixer_t mixerQuadP[] = {
{ 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT { 1.0f, 0.0f, -1.0f, -1.0f }, // FRONT
}; };
static const motorMixer_t mixerBi[] = { static const motorMixer_t mixerBicopter[] = {
{ 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT { 1.0f, 1.0f, 0.0f, 0.0f }, // LEFT
{ 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT { 1.0f, -1.0f, 0.0f, 0.0f }, // RIGHT
}; };
@ -245,10 +245,10 @@ static const motorMixer_t mixerThrustVector[] = {
const mixer_t mixers[] = { const mixer_t mixers[] = {
// motors, use servo, motor mixer // motors, use servo, motor mixer
{ 0, false, NULL }, // entry 0 { 0, false, NULL }, // entry 0
{ 3, true, mixerTri }, // MIXER_TRI { 3, true, mixerTricopter }, // MIXER_TRI
{ 4, false, mixerQuadP }, // MIXER_QUADP { 4, false, mixerQuadP }, // MIXER_QUADP
{ 4, false, mixerQuadX }, // MIXER_QUADX { 4, false, mixerQuadX }, // MIXER_QUADX
{ 2, true, mixerBi }, // MIXER_BI { 2, true, mixerBicopter }, // MIXER_BICOPTER
{ 0, true, NULL }, // * MIXER_GIMBAL { 0, true, NULL }, // * MIXER_GIMBAL
{ 6, false, mixerY6 }, // MIXER_Y6 { 6, false, mixerY6 }, // MIXER_Y6
{ 6, false, mixerHex6P }, // MIXER_HEX6 { 6, false, mixerHex6P }, // MIXER_HEX6
@ -274,12 +274,15 @@ const mixer_t mixers[] = {
#endif #endif
#ifdef USE_SERVOS #ifdef USE_SERVOS
#define COUNT_SERVO_RULES(rules) (sizeof(rules) / sizeof(servoMixer_t))
// mixer rule format servo, input, rate, speed, min, max, box // mixer rule format servo, input, rate, speed, min, max, box
static const servoMixer_t servoMixerAirplane[] = { static const servoMixer_t servoMixerAirplane[] = {
{ SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 }, { SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 }, { SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, { SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_ELEVATOR, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, { SERVO_ELEVATOR, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_THROTTLE, INPUT_STABILIZED_THROTTLE, 100, 0, 0, 100, 0 },
}; };
static const servoMixer_t servoMixerFlyingWing[] = { static const servoMixer_t servoMixerFlyingWing[] = {
@ -287,13 +290,14 @@ static const servoMixer_t servoMixerFlyingWing[] = {
{ SERVO_FLAPPERON_1, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, { SERVO_FLAPPERON_1, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 }, { SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_2, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, { SERVO_FLAPPERON_2, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_THROTTLE, INPUT_STABILIZED_THROTTLE, 100, 0, 0, 100, 0 },
}; };
static const servoMixer_t servoMixerBI[] = { static const servoMixer_t servoMixerBI[] = {
{ SERVO_BIPLANE_LEFT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, { SERVO_BICOPTER_LEFT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_BIPLANE_LEFT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, { SERVO_BICOPTER_LEFT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_BIPLANE_RIGHT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 }, { SERVO_BICOPTER_RIGHT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_BIPLANE_RIGHT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 }, { SERVO_BICOPTER_RIGHT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
}; };
static const servoMixer_t servoMixerTri[] = { static const servoMixer_t servoMixerTri[] = {
@ -324,27 +328,27 @@ static const servoMixer_t servoMixerGimbal[] = {
const mixerRules_t servoMixers[] = { const mixerRules_t servoMixers[] = {
{ 0, NULL }, // entry 0 { 0, NULL }, // entry 0
{ 1, servoMixerTri }, // MULTITYPE_TRI { COUNT_SERVO_RULES(servoMixerTri), servoMixerTri }, // MULTITYPE_TRI
{ 0, NULL }, // MULTITYPE_QUADP { 0, NULL }, // MULTITYPE_QUADP
{ 0, NULL }, // MULTITYPE_QUADX { 0, NULL }, // MULTITYPE_QUADX
{ 4, servoMixerBI }, // MULTITYPE_BI { COUNT_SERVO_RULES(servoMixerBI), servoMixerBI }, // MULTITYPE_BI
{ 2, servoMixerGimbal }, // * MULTITYPE_GIMBAL { COUNT_SERVO_RULES(servoMixerGimbal), servoMixerGimbal }, // * MULTITYPE_GIMBAL
{ 0, NULL }, // MULTITYPE_Y6 { 0, NULL }, // MULTITYPE_Y6
{ 0, NULL }, // MULTITYPE_HEX6 { 0, NULL }, // MULTITYPE_HEX6
{ 4, servoMixerFlyingWing },// * MULTITYPE_FLYING_WING { COUNT_SERVO_RULES(servoMixerFlyingWing), servoMixerFlyingWing },// * MULTITYPE_FLYING_WING
{ 0, NULL }, // MULTITYPE_Y4 { 0, NULL }, // MULTITYPE_Y4
{ 0, NULL }, // MULTITYPE_HEX6X { 0, NULL }, // MULTITYPE_HEX6X
{ 0, NULL }, // MULTITYPE_OCTOX8 { 0, NULL }, // MULTITYPE_OCTOX8
{ 0, NULL }, // MULTITYPE_OCTOFLATP { 0, NULL }, // MULTITYPE_OCTOFLATP
{ 0, NULL }, // MULTITYPE_OCTOFLATX { 0, NULL }, // MULTITYPE_OCTOFLATX
{ 4, servoMixerAirplane }, // * MULTITYPE_AIRPLANE { COUNT_SERVO_RULES(servoMixerAirplane), servoMixerAirplane }, // * MULTITYPE_AIRPLANE
{ 0, NULL }, // * MULTITYPE_HELI_120_CCPM { 0, NULL }, // * MULTITYPE_HELI_120_CCPM
{ 0, NULL }, // * MULTITYPE_HELI_90_DEG { 0, NULL }, // * MULTITYPE_HELI_90_DEG
{ 0, NULL }, // MULTITYPE_VTAIL4 { 0, NULL }, // MULTITYPE_VTAIL4
{ 0, NULL }, // MULTITYPE_HEX6H { 0, NULL }, // MULTITYPE_HEX6H
{ 0, NULL }, // * MULTITYPE_PPM_TO_SERVO { 0, NULL }, // * MULTITYPE_PPM_TO_SERVO
{ 2, servoMixerDual }, // MULTITYPE_DUALCOPTER { COUNT_SERVO_RULES(servoMixerDual), servoMixerDual }, // MULTITYPE_DUALCOPTER
{ 8, servoMixerSingle }, // MULTITYPE_SINGLECOPTER { COUNT_SERVO_RULES(servoMixerSingle), servoMixerSingle }, // MULTITYPE_SINGLECOPTER
{ 0, NULL }, // MULTITYPE_ATAIL4 { 0, NULL }, // MULTITYPE_ATAIL4
{ 0, NULL }, // MULTITYPE_CUSTOM { 0, NULL }, // MULTITYPE_CUSTOM
{ 0, NULL }, // MULTITYPE_CUSTOM_PLANE { 0, NULL }, // MULTITYPE_CUSTOM_PLANE
@ -596,9 +600,9 @@ void writeServos(void)
uint8_t servoIndex = 0; uint8_t servoIndex = 0;
switch (currentMixerMode) { switch (currentMixerMode) {
case MIXER_BI: case MIXER_BICOPTER:
pwmWriteServo(servoIndex++, servo[SERVO_BIPLANE_LEFT]); pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_LEFT]);
pwmWriteServo(servoIndex++, servo[SERVO_BIPLANE_RIGHT]); pwmWriteServo(servoIndex++, servo[SERVO_BICOPTER_RIGHT]);
break; break;
case MIXER_TRI: case MIXER_TRI:
@ -625,6 +629,7 @@ void writeServos(void)
pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_RIGHT]); pwmWriteServo(servoIndex++, servo[SERVO_DUALCOPTER_RIGHT]);
break; break;
case MIXER_CUSTOM_AIRPLANE:
case MIXER_AIRPLANE: case MIXER_AIRPLANE:
for (int i = SERVO_PLANE_INDEX_MIN; i <= SERVO_PLANE_INDEX_MAX; i++) { for (int i = SERVO_PLANE_INDEX_MIN; i <= SERVO_PLANE_INDEX_MAX; i++) {
pwmWriteServo(servoIndex++, servo[i]); pwmWriteServo(servoIndex++, servo[i]);
@ -637,15 +642,6 @@ void writeServos(void)
} }
break; break;
case MIXER_CUSTOM_AIRPLANE:
pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_1]);
pwmWriteServo(servoIndex++, servo[SERVO_FLAPPERON_2]);
pwmWriteServo(servoIndex++, servo[SERVO_RUDDER]);
pwmWriteServo(servoIndex++, servo[SERVO_ELEVATOR]);
pwmWriteServo(servoIndex++, servo[SERVO_FLAPS]);
pwmWriteServo(servoIndex++, servo[SERVO_THROTTLE]);
break;
default: default:
break; break;
} }
@ -812,7 +808,7 @@ void mixTable(void)
case MIXER_CUSTOM_AIRPLANE: case MIXER_CUSTOM_AIRPLANE:
case MIXER_FLYING_WING: case MIXER_FLYING_WING:
case MIXER_AIRPLANE: case MIXER_AIRPLANE:
case MIXER_BI: case MIXER_BICOPTER:
case MIXER_CUSTOM_TRI: case MIXER_CUSTOM_TRI:
case MIXER_TRI: case MIXER_TRI:
case MIXER_DUALCOPTER: case MIXER_DUALCOPTER:

2
src/main/flight/mixer.h
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@ -29,7 +29,7 @@ typedef enum mixerMode
MIXER_TRI = 1, MIXER_TRI = 1,
MIXER_QUADP = 2, MIXER_QUADP = 2,
MIXER_QUADX = 3, MIXER_QUADX = 3,
MIXER_BI = 4, MIXER_BICOPTER = 4,
MIXER_GIMBAL = 5, MIXER_GIMBAL = 5,
MIXER_Y6 = 6, MIXER_Y6 = 6,
MIXER_HEX6 = 7, MIXER_HEX6 = 7,