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added (untested) flag to disable tricopter servo updates when unarmed.

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tri_unarmed_servo to 1 (default) always updates tri servo whether armed or not.
tri_unarmed_servo to 0 will only send servo signal to tail servo when armed.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@392 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-09-06 00:03:32 +00:00
parent 509e349e69
commit 929bbc8c3f
5 changed files with 31 additions and 19 deletions
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11
src/mixer.c
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@ -206,7 +206,16 @@ void writeServos(void)
break;
case MULTITYPE_TRI:
pwmWriteServo(0, servo[5]);
if (cfg.tri_unarmed_servo) {
// if unarmed flag set, we always move servo
pwmWriteServo(0, servo[5]);
} else {
// otherwise, only move servo when copter is armed
if (f.ARMED)
pwmWriteServo(0, servo[5]);
else
pwmWriteServo(0, 0); // kill servo signal completely.
}
break;
case MULTITYPE_AIRPLANE: