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Code Issues Releases Activity

OP-824 Add CameraStab Elevon-type mixing. Redo servo reversing.

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This commit is contained in:
Cliff Geerdes 2013-02-03 19:02:34 -05:00
parent 5e2aeeea76
commit 8104ae25dd
2 changed files with 20 additions and 10 deletions
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28
flight/Modules/CameraStab/camerastab.c
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@ -241,19 +241,29 @@ static void attitudeUpdated(UAVObjEvent* ev)
if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
float elevon_pitch;
elevon_pitch = output;
output = (elevon_pitch + elevon_roll) / 2;
CameraDesiredRollOrServo1Set(&output);
// elevon reversing works like this:
// first use the normal reversing facilities to get servo 1 working in the correct direction
// for both roll and pitch
// then use the new reversing switches to reverse servo 2 roll and/or pitch as needed
if (cameraStab.ElevonSSGServo2RollReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2ROLLREVERSE_TRUE) {
elevon_roll = 1.0 - elevon_roll;
// first use the normal reversing facilities to get servo 1 roll working in the correct direction
// then use the normal reversing facilities to get servo 2 roll working in the correct direction
// then use these new reversing switches to reverse servo 1 and/or 2 pitch as needed
// if servo 1 pitch is reversed
if (cameraStab.ElevonSSGServo1PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO1PITCHREVERSE_TRUE) {
// use (reversed pitch) + roll
output = ((1.0 - elevon_pitch) + elevon_roll) / 2;
}
else {
// use pitch + roll
output = (elevon_pitch + elevon_roll) / 2;
}
CameraDesiredRollOrServo1Set(&output);
// if servo 2 pitch is reversed
if (cameraStab.ElevonSSGServo2PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2PITCHREVERSE_TRUE) {
elevon_pitch = 1.0 - elevon_pitch;
// use (reversed pitch) - roll
output = ((1.0 - elevon_pitch) - elevon_roll) / 2;
}
else {
// use pitch - roll
output = (elevon_pitch - elevon_roll) / 2;
}
output = (elevon_pitch - elevon_roll) / 2;
CameraDesiredPitchOrServo2Set(&output);
}
else {

2
shared/uavobjectdefinition/camerastabsettings.xml
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@ -13,7 +13,7 @@
<field name="MaxAccel" units="units/sec" type="uint16" elements="1" defaultvalue="500"/>
<field name="AccelTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="5"/>
<field name="DecelTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="5"/>
<field name="ElevonSSGServo2RollReverse" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ElevonSSGServo1PitchReverse" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ElevonSSGServo2PitchReverse" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>