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Fixing gimbal_flags not working when feature SERVO_TILT was enabled. This was done by properly calculating servo offset instead of depending on enabled features/mixers.

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This commit is contained in:
dongie 2014-06-11 15:10:17 +09:00
parent ab87a99238
commit 2fef9d5fa9
6 changed files with 33 additions and 8 deletions
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11
src/mixer.c
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@ -1,3 +1,7 @@
/*
* This file is part of baseflight
* Licensed under GPL V3 or modified DCL - see https://github.com/multiwii/baseflight/blob/master/README.md
*/
#include "board.h"
#include "mw.h"
@ -468,13 +472,10 @@ void mixTable(void)
// forward AUX1-4 to servo outputs (not constrained)
if (cfg.gimbal_flags & GIMBAL_FORWARDAUX) {
int offset = 0;
int offset = core.numServos - 4;
// offset servos based off number already used in mixer types
// airplane and servo_tilt together can't be used
if (mcfg.mixerConfiguration == MULTITYPE_AIRPLANE || mcfg.mixerConfiguration == MULTITYPE_FLYING_WING)
offset = 4;
else if (mixers[mcfg.mixerConfiguration].useServo)
offset = 2;
// calculate offset by taking 4 from core.numServos
for (i = 0; i < 4; i++)
pwmWriteServo(i + offset, rcData[AUX1 + i]);
}