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Rename and re-order servo rule input sources

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This commit is contained in:
Dominic Clifton 2015-07-08 13:58:28 +01:00
parent 7e12711763
commit 99e0e55e17
2 changed files with 43 additions and 43 deletions
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70
src/main/flight/mixer.c
View file

@ -276,44 +276,44 @@ const mixer_t mixers[] = {
#ifdef USE_SERVOS
// mixer rule format servo, input, rate, speed, min, max, box
static const servoMixer_t servoMixerAirplane[] = {
{ SERVO_FLAPPERON_1, INPUT_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_2, INPUT_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_RUDDER, INPUT_YAW, 100, 0, 0, 100, 0 },
{ SERVO_ELEVATOR, INPUT_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_ELEVATOR, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
};
static const servoMixer_t servoMixerFlyingWing[] = {
{ SERVO_FLAPPERON_1, INPUT_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_1, INPUT_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_2, INPUT_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_2, INPUT_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_1, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_1, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_2, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_FLAPPERON_2, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
};
static const servoMixer_t servoMixerBI[] = {
{ SERVO_BIPLANE_LEFT, INPUT_YAW, 100, 0, 0, 100, 0 },
{ SERVO_BIPLANE_LEFT, INPUT_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_BIPLANE_RIGHT, INPUT_YAW, 100, 0, 0, 100, 0 },
{ SERVO_BIPLANE_RIGHT, INPUT_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_BIPLANE_LEFT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_BIPLANE_LEFT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_BIPLANE_RIGHT, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_BIPLANE_RIGHT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
};
static const servoMixer_t servoMixerTri[] = {
{ SERVO_RUDDER, INPUT_YAW, 100, 0, 0, 100, 0 },
{ SERVO_RUDDER, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
};
static const servoMixer_t servoMixerDual[] = {
{ SERVO_DUALCOPTER_LEFT, INPUT_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_DUALCOPTER_RIGHT, INPUT_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_DUALCOPTER_LEFT, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_DUALCOPTER_RIGHT, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
};
static const servoMixer_t servoMixerSingle[] = {
{ SERVO_SINGLECOPTER_1, INPUT_YAW, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_1, INPUT_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_2, INPUT_YAW, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_2, INPUT_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_3, INPUT_YAW, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_3, INPUT_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_4, INPUT_YAW, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_4, INPUT_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_1, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_1, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_2, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_2, INPUT_STABILIZED_PITCH, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_3, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_3, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_4, INPUT_STABILIZED_YAW, 100, 0, 0, 100, 0 },
{ SERVO_SINGLECOPTER_4, INPUT_STABILIZED_ROLL, 100, 0, 0, 100, 0 },
};
static const servoMixer_t servoMixerGimbal[] = {
@ -707,25 +707,25 @@ static void servoMixer(void)
if (FLIGHT_MODE(PASSTHRU_MODE)) {
// Direct passthru from RX
input[INPUT_ROLL] = rcCommand[ROLL];
input[INPUT_PITCH] = rcCommand[PITCH];
input[INPUT_YAW] = rcCommand[YAW];
input[INPUT_STABILIZED_ROLL] = rcCommand[ROLL];
input[INPUT_STABILIZED_PITCH] = rcCommand[PITCH];
input[INPUT_STABILIZED_YAW] = rcCommand[YAW];
} else {
// Assisted modes (gyro only or gyro+acc according to AUX configuration in Gui
input[INPUT_ROLL] = axisPID[ROLL];
input[INPUT_PITCH] = axisPID[PITCH];
input[INPUT_YAW] = axisPID[YAW];
input[INPUT_STABILIZED_ROLL] = axisPID[ROLL];
input[INPUT_STABILIZED_PITCH] = axisPID[PITCH];
input[INPUT_STABILIZED_YAW] = axisPID[YAW];
// Reverse yaw servo when inverted in 3D mode
if (feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->midrc)) {
input[INPUT_YAW] *= -1;
input[INPUT_STABILIZED_YAW] *= -1;
}
}
input[INPUT_GIMBAL_PITCH] = scaleRange(inclination.values.pitchDeciDegrees, -1800, 1800, -500, +500);
input[INPUT_GIMBAL_ROLL] = scaleRange(inclination.values.rollDeciDegrees, -1800, 1800, -500, +500);
input[INPUT_THROTTLE] = motor[0];
input[INPUT_STABILIZED_THROTTLE] = motor[0];
// center the RC input value around the RC middle value
// by subtracting the RC middle value from the RC input value, we get:
@ -733,14 +733,14 @@ static void servoMixer(void)
// 2000 - 1500 = +500
// 1500 - 1500 = 0
// 1000 - 1500 = -500
input[INPUT_AUX1] = rcData[AUX1] - rxConfig->midrc;
input[INPUT_AUX2] = rcData[AUX2] - rxConfig->midrc;
input[INPUT_AUX3] = rcData[AUX3] - rxConfig->midrc;
input[INPUT_AUX4] = rcData[AUX4] - rxConfig->midrc;
input[INPUT_RC_ROLL] = rcData[ROLL] - rxConfig->midrc;
input[INPUT_RC_PITCH] = rcData[PITCH] - rxConfig->midrc;
input[INPUT_RC_YAW] = rcData[YAW] - rxConfig->midrc;
input[INPUT_RC_THROTTLE] = rcData[THROTTLE] - rxConfig->midrc;
input[INPUT_RC_AUX1] = rcData[AUX1] - rxConfig->midrc;
input[INPUT_RC_AUX2] = rcData[AUX2] - rxConfig->midrc;
input[INPUT_RC_AUX3] = rcData[AUX3] - rxConfig->midrc;
input[INPUT_RC_AUX4] = rcData[AUX4] - rxConfig->midrc;
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++)
servo[i] = 0;

16
src/main/flight/mixer.h
View file

@ -96,18 +96,18 @@ typedef struct airplaneConfig_t {
// These must be consecutive, see 'reversedSources'
enum {
INPUT_ROLL = 0,
INPUT_PITCH,
INPUT_YAW,
INPUT_THROTTLE,
INPUT_AUX1,
INPUT_AUX2,
INPUT_AUX3,
INPUT_AUX4,
INPUT_STABILIZED_ROLL = 0,
INPUT_STABILIZED_PITCH,
INPUT_STABILIZED_YAW,
INPUT_STABILIZED_THROTTLE,
INPUT_RC_ROLL,
INPUT_RC_PITCH,
INPUT_RC_YAW,
INPUT_RC_THROTTLE,
INPUT_RC_AUX1,
INPUT_RC_AUX2,
INPUT_RC_AUX3,
INPUT_RC_AUX4,
INPUT_GIMBAL_PITCH,
INPUT_GIMBAL_ROLL,