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initial take at configurable FEATURE_3D

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completely untested and may attempt to kill you when enabled. no binary.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@360 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-06-30 07:11:49 +00:00
parent e010e3a354
commit 3afeb3d1c8
6 changed files with 53 additions and 11 deletions
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33
src/mixer.c
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@ -166,6 +166,17 @@ void mixerInit(void)
currentMixer[i] = mixers[mcfg.mixerConfiguration].motor[i];
}
}
// in 3D mode, mixer gain has to be halved
if (feature(FEATURE_3D)) {
if (numberMotor > 1) {
for (i = 0; i < numberMotor; i++) {
currentMixer[i].pitch *= 0.5f;
currentMixer[i].roll *= 0.5f;
currentMixer[i].yaw *= 0.5f;
}
}
}
}
void mixerLoadMix(int index)
@ -382,14 +393,22 @@ void mixTable(void)
for (i = 0; i < numberMotor; i++) {
if (maxMotor > mcfg.maxthrottle) // this is a way to still have good gyro corrections if at least one motor reaches its max.
motor[i] -= maxMotor - mcfg.maxthrottle;
motor[i] = constrain(motor[i], mcfg.minthrottle, mcfg.maxthrottle);
if ((rcData[THROTTLE]) < mcfg.mincheck) {
if (!feature(FEATURE_MOTOR_STOP))
motor[i] = mcfg.minthrottle;
else
motor[i] = mcfg.mincommand;
if (feature(FEATURE_3D)) {
if ((rcData[THROTTLE]) > 1500) {
motor[i] = constrain(motor[i], mcfg.deadband3d_high, mcfg.maxthrottle);
} else {
motor[i] = constrain(motor[i], mcfg.mincommand, mcfg.deadband3d_low);
}
} else {
motor[i] = constrain(motor[i], mcfg.minthrottle, mcfg.maxthrottle);
if ((rcData[THROTTLE]) < mcfg.mincheck) {
if (!feature(FEATURE_MOTOR_STOP))
motor[i] = mcfg.minthrottle;
else
motor[i] = mcfg.mincommand;
}
}
if (!f.ARMED)
motor[i] = mcfg.mincommand;
motor[i] = feature(FEATURE_3D) ? mcfg.neutral3d : mcfg.mincommand;
}
}