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renamed 'tilt_*_prop' stuff into gimbal_[axis]_gain and added more dynamically-configurable gimbal/camstab stuff into cli.

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whitespace fixes in mw.h and trashed the old XA-XB based mixer setting leftovers.
settings are cleared again due to updated config struct.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@138 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-31 03:52:16 +00:00
parent 58eb2b966f
commit 703234b608
5 changed files with 2473 additions and 2448 deletions
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16
src/mixer.c
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@ -212,8 +212,8 @@ void mixTable(void)
break;
case MULTITYPE_GIMBAL:
servo[0] = constrain(TILT_PITCH_MIDDLE + cfg.tilt_pitch_prop * angle[PITCH] / 16 + rcCommand[PITCH], TILT_PITCH_MIN, TILT_PITCH_MAX);
servo[1] = constrain(TILT_ROLL_MIDDLE + cfg.tilt_roll_prop * angle[ROLL] / 16 + rcCommand[ROLL], TILT_ROLL_MIN, TILT_ROLL_MAX);
servo[0] = constrain(cfg.gimbal_pitch_mid + cfg.gimbal_pitch_gain * angle[PITCH] / 16 + rcCommand[PITCH], cfg.gimbal_pitch_min, cfg.gimbal_pitch_max);
servo[1] = constrain(cfg.gimbal_roll_mid + cfg.gimbal_roll_gain * angle[ROLL] / 16 + rcCommand[ROLL], cfg.gimbal_roll_min, cfg.gimbal_roll_max);
break;
case MULTITYPE_FLYING_WING:
@ -232,16 +232,16 @@ void mixTable(void)
// do camstab
if (feature(FEATURE_SERVO_TILT)) {
servo[0] = TILT_PITCH_MIDDLE + rcData[AUX3] - 1500;
servo[1] = TILT_ROLL_MIDDLE + rcData[AUX4] - 1500;
servo[0] = cfg.gimbal_pitch_mid + rcData[AUX3] - cfg.midrc;
servo[1] = cfg.gimbal_roll_mid + rcData[AUX4] - cfg.midrc;
if (rcOptions[BOXCAMSTAB]) {
servo[0] += cfg.tilt_pitch_prop * angle[PITCH] / 16;
servo[1] += cfg.tilt_roll_prop * angle[ROLL] / 16;
servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16;
servo[1] += cfg.gimbal_roll_gain * angle[ROLL] / 16;
}
servo[0] = constrain(servo[0], TILT_PITCH_MIN, TILT_PITCH_MAX);
servo[1] = constrain(servo[1], TILT_ROLL_MIN, TILT_ROLL_MAX);
servo[0] = constrain(servo[0], cfg.gimbal_pitch_min, cfg.gimbal_pitch_max);
servo[1] = constrain(servo[1], cfg.gimbal_roll_min, cfg.gimbal_roll_max);
}
// do camtrig (this doesn't actually work)