From 13cccdfe9536f2da3441ea38c9eb6b29892916e3 Mon Sep 17 00:00:00 2001
From: Phil <philcole1234@gmail.com>
Date: Tue, 27 Dec 2011 00:42:50 -0800
Subject: [PATCH] Fix rudder in elevon mode. Don't know what to do about the
reversing switch.
---
ArduPlane/APM_Config.h | 2 +-
ArduPlane/Attitude.pde | 2 +-
ArduPlane/radio.pde | 5 ++---
ArduPlane/test.pde | 1 +
4 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/ArduPlane/APM_Config.h b/ArduPlane/APM_Config.h
index 88ceaf7f8..472e77123 100644
--- a/ArduPlane/APM_Config.h
+++ b/ArduPlane/APM_Config.h
@@ -37,4 +37,4 @@
#define THROTTLE_FAILSAFE ENABLED
*/
-# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
+//# define CONFIG_APM_HARDWARE APM_HARDWARE_APM1
diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index 08a950213..e8b0e7021 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -314,7 +314,6 @@ static void set_servos(void)
if (g.mix_mode == 0) {
g.channel_roll.calc_pwm();
g.channel_pitch.calc_pwm();
- g.channel_rudder.calc_pwm();
if (g_rc_function[RC_Channel_aux::k_aileron]) {
g_rc_function[RC_Channel_aux::k_aileron]->servo_out = g.channel_roll.servo_out;
g_rc_function[RC_Channel_aux::k_aileron]->calc_pwm();
@@ -329,6 +328,7 @@ static void set_servos(void)
g.channel_roll.radio_out = elevon1_trim + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0/ SERVO_MAX));
g.channel_pitch.radio_out = elevon2_trim + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
}
+ g.channel_rudder.calc_pwm();
#if THROTTLE_OUT == 0
g.channel_throttle.servo_out = 0;
diff --git a/ArduPlane/radio.pde b/ArduPlane/radio.pde
index e0a8b870b..0db507a17 100644
--- a/ArduPlane/radio.pde
+++ b/ArduPlane/radio.pde
@@ -158,7 +158,6 @@ static void trim_control_surfaces()
if(g.mix_mode == 0){
g.channel_roll.radio_trim = g.channel_roll.radio_in;
g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
- g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
}else{
@@ -170,6 +169,7 @@ static void trim_control_surfaces()
g.channel_roll.radio_trim = center;
g.channel_pitch.radio_trim = center;
}
+ g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
// save to eeprom
g.channel_roll.save_eeprom();
@@ -191,7 +191,6 @@ static void trim_radio()
g.channel_roll.radio_trim = g.channel_roll.radio_in;
g.channel_pitch.radio_trim = g.channel_pitch.radio_in;
//g.channel_throttle.radio_trim = g.channel_throttle.radio_in;
- g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
G_RC_AUX(k_aileron)->radio_trim = g_rc_function[RC_Channel_aux::k_aileron]->radio_in; // Second aileron channel
} else {
@@ -200,8 +199,8 @@ static void trim_radio()
uint16_t center = 1500;
g.channel_roll.radio_trim = center;
g.channel_pitch.radio_trim = center;
- g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
}
+ g.channel_rudder.radio_trim = g.channel_rudder.radio_in;
// save to eeprom
g.channel_roll.save_eeprom();
diff --git a/ArduPlane/test.pde b/ArduPlane/test.pde
index e4ebfdcfa..8f0259dfc 100644
--- a/ArduPlane/test.pde
+++ b/ArduPlane/test.pde
@@ -432,6 +432,7 @@ test_dipswitches(uint8_t argc, const Menu::arg *argv)
(int)g.reverse_elevons,
(int)g.reverse_ch1_elevon,
(int)g.reverse_ch2_elevon);
+ //(int)g.channel_rudder.get_reverse()); No reversing switch for rudder in elevon mode.
}
if(Serial.available() > 0){
return (0);
--
GitLab