From ba2e204143189aebee7250b9bba2313428d6db12 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 14 Nov 2014 11:27:50 +1100
Subject: [PATCH] Plane: fixed trim and range handling for flaperons
---
ArduPlane/Attitude.pde | 27 +++++++++++++++++++--------
1 file changed, 19 insertions(+), 8 deletions(-)
diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index ffc475803..25c82e24b 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -683,19 +683,30 @@ 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. Note that negative manual flap percentates
+ or from auto flaps. Note that negative manual flap percentages
are allowed, which give spoilerons
*/
- ch1 = channel_roll->radio_out;
- // 1500 is used here as the neutral value for the output
- // mixer. User can still trim the flaps on the input side using
- // the TRIM of the flap input channel. The *5 is to take a
- // percentage to a value from -500 to 500 for the mixer
+ // first map the amount of aileron roll to a 1000..2000 value
+ ch1 = (channel_roll->pwm_to_angle_dz(0) / 9) + 1500;
+
+ // now map flap percentage to a 1000..2000 value
ch2 = 1500 - flap_percent * 5;
+
+ // run the mixer
channel_output_mixer(g.flaperon_output, ch1, ch2);
- RC_Channel_aux::set_radio(RC_Channel_aux::k_flaperon1, ch1);
- RC_Channel_aux::set_radio(RC_Channel_aux::k_flaperon2, 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);
}
/*****************************************
--
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