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Ensure that all AUX channels are forwarded to any available unused servo

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output.

Fixes #1051.
This commit is contained in:
Dominic Clifton 2015-06-26 17:22:47 +01:00
parent 3f97f855b5
commit 0608601644
1 changed files with 3 additions and 6 deletions
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9
src/main/flight/mixer.c
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@ -87,7 +87,7 @@ typedef enum {
#define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
#define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
#define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT 4
#define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT
//#define MIXER_DEBUG
@ -437,7 +437,7 @@ STATIC_UNIT_TESTED void forwardAuxChannelsToServos(uint8_t firstServoIndex)
uint8_t channelOffset = AUX1;
uint8_t servoOffset;
for (servoOffset = 0; servoOffset < AUX_FORWARD_CHANNEL_TO_SERVO_COUNT; servoOffset++) {
for (servoOffset = 0; servoOffset < MAX_AUX_CHANNEL_COUNT && channelOffset < MAX_SUPPORTED_RC_CHANNEL_COUNT; servoOffset++) {
pwmWriteServo(firstServoIndex + servoOffset, rcData[channelOffset++]);
}
}
@ -450,9 +450,6 @@ static void updateGimbalServos(uint8_t firstServoIndex)
void writeServos(void)
{
if (!useServo)
return;
uint8_t servoIndex = 0;
switch (currentMixerMode) {
@ -510,7 +507,7 @@ void writeServos(void)
// forward AUX1-4 to servo outputs (not constrained)
if (gimbalConfig->gimbal_flags & GIMBAL_FORWARDAUX) {
forwardAuxChannelsToServos(servoIndex);
servoIndex += AUX_FORWARD_CHANNEL_TO_SERVO_COUNT;
servoIndex += MAX_AUX_CHANNEL_COUNT;
}
}
#endif