From 8071d7c1d3236d55160e979799e6b38ba9f35efc Mon Sep 17 00:00:00 2001
From: "Kirill A. Kornilov" <kirill@tp>
Date: Tue, 25 Nov 2014 08:20:10 +1100
Subject: [PATCH] Plane: use set_radio_trimmed() for flaperons
See discussion in issue #1425
---
ArduPlane/Attitude.pde | 33 ++++++++++-----------------------
1 file changed, 10 insertions(+), 23 deletions(-)
diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index a49b0e195..6266040b4 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -684,34 +684,21 @@ static void flaperon_update(int8_t flap_percent)
flaperons are implemented as a mixer between aileron and a
percentage of flaps. Flap input can come from a manual channel
or from auto flaps.
- */
-
- // first map the amount of aileron roll to a 1000..2000 value. We
- // center it on 1500 so that using trim on the roll channel will
- // have an affect on the flaperon roll output. We also scale it
- // for the roll min/max range, so that transmitters with a small
- // range of outputs can command flaperons with full output range.
- ch1 = 1500 + ((channel_roll->radio_out - 1500) * 1000.0f / (channel_roll->radio_max - channel_roll->radio_min));
- // now map flap percentage to a 1000..2000 value
+ Use k_flaperon1 and k_flaperon2 channel trims to center servos.
+ Then adjust aileron trim for level flight (note that aileron trim is affected
+ by mixing gain). flapin_channel's trim is not used.
+ */
+
+ ch1 = channel_roll->radio_out;
+ // The *5 is to take a percentage to a value from -500 to 500 for the mixer
ch2 = 1500 - flap_percent * 5;
-
- // run the mixer
channel_output_mixer(g.flaperon_output, ch1, ch2);
-
- // the mixer gives us a value from 900 to 2100 for each channel We
- // now need to map that onto a -4500 to 4500 angle. We use a ratio
- // of 9 so that for a MIXING_GAIN of 1.0 we get pass-thru of
- // ailerons with no flaps
- ch1 = (ch1 - 1500) * 9;
- ch2 = (ch2 - 1500) * 9;
-
- // and now let the trims and ranges of the flaperon output
- // channels take effect to map this to PWM values
- RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flaperon1, ch1);
- RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flaperon2, ch2);
+ RC_Channel_aux::set_radio_trimmed(RC_Channel_aux::k_flaperon1, ch1);
+ RC_Channel_aux::set_radio_trimmed(RC_Channel_aux::k_flaperon2, ch2);
}
+
/*****************************************
* Set the flight control servos based on the current calculated values
*****************************************/
--
GitLab