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Ensure that all AUX channels are forwarded to any available unused servo
output. Fixes #1051.
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parent
3f97f855b5
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1 changed files with 3 additions and 6 deletions
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@ -87,7 +87,7 @@ typedef enum {
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#define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
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#define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
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#define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
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#define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
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#define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT 4
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#define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT
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//#define MIXER_DEBUG
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//#define MIXER_DEBUG
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@ -437,7 +437,7 @@ STATIC_UNIT_TESTED void forwardAuxChannelsToServos(uint8_t firstServoIndex)
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uint8_t channelOffset = AUX1;
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uint8_t channelOffset = AUX1;
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uint8_t servoOffset;
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uint8_t servoOffset;
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for (servoOffset = 0; servoOffset < AUX_FORWARD_CHANNEL_TO_SERVO_COUNT; servoOffset++) {
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for (servoOffset = 0; servoOffset < MAX_AUX_CHANNEL_COUNT && channelOffset < MAX_SUPPORTED_RC_CHANNEL_COUNT; servoOffset++) {
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pwmWriteServo(firstServoIndex + servoOffset, rcData[channelOffset++]);
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pwmWriteServo(firstServoIndex + servoOffset, rcData[channelOffset++]);
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}
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}
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}
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}
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@ -450,9 +450,6 @@ static void updateGimbalServos(uint8_t firstServoIndex)
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void writeServos(void)
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void writeServos(void)
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{
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{
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if (!useServo)
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return;
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uint8_t servoIndex = 0;
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uint8_t servoIndex = 0;
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switch (currentMixerMode) {
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switch (currentMixerMode) {
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@ -510,7 +507,7 @@ void writeServos(void)
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// forward AUX1-4 to servo outputs (not constrained)
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// forward AUX1-4 to servo outputs (not constrained)
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if (gimbalConfig->gimbal_flags & GIMBAL_FORWARDAUX) {
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if (gimbalConfig->gimbal_flags & GIMBAL_FORWARDAUX) {
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forwardAuxChannelsToServos(servoIndex);
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forwardAuxChannelsToServos(servoIndex);
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servoIndex += AUX_FORWARD_CHANNEL_TO_SERVO_COUNT;
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servoIndex += MAX_AUX_CHANNEL_COUNT;
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}
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}
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}
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}
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#endif
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#endif
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