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bring back flying wing w/all configuration options

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config version bumped, settings cleared.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@213 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2012-09-09 11:35:35 +00:00
parent b94c13b1c5
commit 70884d69d5
5 changed files with 2850 additions and 2783 deletions
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18
src/mixer.c
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@ -322,15 +322,17 @@ void mixTable(void)
case MULTITYPE_FLYING_WING:
motor[0] = rcCommand[THROTTLE];
if (f.PASSTHRU_MODE) { // do not use sensors for correction, simple 2 channel mixing
int p = 0, r = 0;
servo[0] = p * (rcData[PITCH] - cfg.midrc) + r * (rcData[ROLL] - cfg.midrc);
servo[1] = p * (rcData[PITCH] - cfg.midrc) + r * (rcData[ROLL] - cfg.midrc);
} else { // use sensors to correct (gyro only or gyro+acc)
int p = 0, r = 0;
servo[0] = p * axisPID[PITCH] + r * axisPID[ROLL];
servo[1] = p * axisPID[PITCH] + r * axisPID[ROLL];
if (f.PASSTHRU_MODE) {
// do not use sensors for correction, simple 2 channel mixing
servo[0] = cfg.pitch_direction_l * (rcData[PITCH] - cfg.midrc) + cfg.roll_direction_l * (rcData[ROLL] - cfg.midrc);
servo[1] = cfg.pitch_direction_r * (rcData[PITCH] - cfg.midrc) + cfg.roll_direction_r * (rcData[ROLL] - cfg.midrc);
} else {
// use sensors to correct (gyro only or gyro + acc)
servo[0] = cfg.pitch_direction_l * axisPID[PITCH] + cfg.roll_direction_l * axisPID[ROLL];
servo[1] = cfg.pitch_direction_r * axisPID[PITCH] + cfg.roll_direction_r * axisPID[ROLL];
}
servo[0] = constrain(servo[0] + cfg.wing_left_mid, cfg.wing_left_min, cfg.wing_left_max);
servo[1] = constrain(servo[1] + cfg.wing_right_mid, cfg.wing_right_min, cfg.wing_right_max);
break;
}