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Code Issues Releases Activity

OP-193: Output mixer should read from up to 6 accessory channels (may add more

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in future).
This commit is contained in:
James Cotton 2011-06-23 01:47:55 -05:00
parent 493fcaef2a
commit 368d5b649a
1 changed files with 37 additions and 32 deletions
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7
flight/Modules/Actuator/actuator.c
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@ -247,7 +247,12 @@ static void actuatorTask(void* parameters)
continue;
}
if((mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) || (mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_SERVO))
status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT);
else
status[ct] = -1;
// Motors have additional protection for when to be on
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_MOTOR) {
@ -273,7 +278,7 @@ static void actuatorTask(void* parameters)
// the correct behavior is since it seems domain specific. I don't love
// this code
if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_ACCESSORY0) &&
(mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_ACCESSORY2))
(mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_ACCESSORY5))
{
if(AccessoryDesiredInstGet(mixers[ct].type - MIXERSETTINGS_MIXER1TYPE_ACCESSORY0,&accessory) == 0)
status[ct] = accessory.AccessoryVal;