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Code Issues Releases Activity

Flight: Added mixer settings for elevon. Also added bound checking on servo outputs which becomes important when multiple things are mixed and you want to use the full range.

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1380 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-08-23 01:54:58 +00:00 committed by peabody124
parent 19f6db79be
commit 0d11493337
1 changed files with 29 additions and 2 deletions
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31
flight/OpenPilot/Modules/Actuator/actuator.c
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@ -223,8 +223,31 @@ static int32_t mixerFixedWing(const ActuatorSettingsData* settings, const Actuat
*/
static int32_t mixerFixedWingElevon(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd)
{
// TODO: Implement elevon mixer
return -1;
// Check settings
if ( settings->FixedWingRoll1 == ACTUATORSETTINGS_FIXEDWINGROLL1_NONE ||
settings->FixedWingRoll2 == ACTUATORSETTINGS_FIXEDWINGROLL2_NONE ||
settings->FixedWingThrottle == ACTUATORSETTINGS_FIXEDWINGTHROTTLE_NONE )
{
return -1;
}
// Set first elevon servo command
cmd->Channel[ settings->FixedWingRoll1 ] = scaleChannel(desired->Pitch + desired->Roll, settings->ChannelMax[ settings->FixedWingRoll1 ],
settings->ChannelMin[ settings->FixedWingRoll1 ],
settings->ChannelNeutral[ settings->FixedWingRoll1 ]);
// Set second elevon servo command
cmd->Channel[ settings->FixedWingRoll2 ] = scaleChannel(desired->Pitch - desired->Roll, settings->ChannelMax[ settings->FixedWingRoll2 ],
settings->ChannelMin[ settings->FixedWingRoll2 ],
settings->ChannelNeutral[ settings->FixedWingRoll2 ]);
// Set throttle servo command
cmd->Channel[ settings->FixedWingThrottle ] = scaleChannel(desired->Throttle, settings->ChannelMax[ settings->FixedWingThrottle ],
settings->ChannelMin[ settings->FixedWingThrottle ],
settings->ChannelNeutral[ settings->FixedWingThrottle ]);
// Done
return 0;
}
/**
@ -252,6 +275,10 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
{
valueScaled = (int16_t)(value*((float)(neutral-min))) + neutral;
}
if( valueScaled > max ) valueScaled = max;
if( valueScaled < min ) valueScaled = min;
return valueScaled;
}