adding untested (and needing work) fixedwing althold implementation.

see comments in code for things to fix. added new variable to cli, fixedwing_althold_dir (though its value isn't really clear, I think it should always be positive since servo direction mix is done later).

src/cli.c

@@ -124,6 +124,7 @@ const clivalue_t valueTable[] = {
     { "servo_pwm_rate", VAR_UINT16, &mcfg.servo_pwm_rate, 50, 498 },
     { "retarded_arm", VAR_UINT8, &mcfg.retarded_arm, 0, 1 },
     { "flaps_speed", VAR_UINT8, &mcfg.flaps_speed, 0, 100 },
+    { "fixedwing_althold_dir", VAR_INT8, &mcfg.fixedwing_althold_dir, -1, 1 },
     { "serial_baudrate", VAR_UINT32, &mcfg.serial_baudrate, 1200, 115200 },
     { "softserial_baudrate", VAR_UINT32, &mcfg.softserial_baudrate, 9600, 19200 },
     { "softserial_inverted", VAR_UINT8, &mcfg.softserial_inverted, 0, 1 },

src/config.c

@@ -13,7 +13,7 @@ master_t mcfg;  // master config struct with data independent from profiles
 config_t cfg;   // profile config struct
 const char rcChannelLetters[] = "AERT1234";
 
-static const uint8_t EEPROM_CONF_VERSION = 55;
+static const uint8_t EEPROM_CONF_VERSION = 56;
 static uint32_t enabledSensors = 0;
 static void resetConf(void);
 
@@ -197,6 +197,8 @@ static void resetConf(void)
     mcfg.mincheck = 1100;
     mcfg.maxcheck = 1900;
     mcfg.retarded_arm = 0;       // disable arm/disarm on roll left/right
+    mcfg.flaps_speed = 0;
+    mcfg.fixedwing_althold_dir = 1;
     // Motor/ESC/Servo
     mcfg.minthrottle = 1150;
     mcfg.maxthrottle = 1850;

src/mixer.c

@@ -211,6 +211,14 @@ void mixerInit(void)
             }
         }
     }
+
+    // set flag that we're on something with wings
+    if (mcfg.mixerConfiguration == MULTITYPE_FLYING_WING ||
+        mcfg.mixerConfiguration == MULTITYPE_AIRPLANE)
+        f.FIXED_WING = 1;
+    else
+        f.FIXED_WING = 0;
+
     mixerResetMotors();
 }
 

src/mw.c

@@ -831,6 +831,8 @@ void loop(void)
             if (f.BARO_MODE) {
                 static uint8_t isAltHoldChanged = 0;
                 static int16_t AltHoldCorr = 0;
+                if (!f.FIXED_WING) {
+                    // multirotor alt hold
                     if (cfg.alt_hold_fast_change) {
                         // rapid alt changes
                         if (abs(rcCommand[THROTTLE] - initialThrottleHold) > cfg.alt_hold_throttle_neutral) {
@@ -860,6 +862,12 @@ void loop(void)
                         rcCommand[THROTTLE] = initialThrottleHold + BaroPID;
                         rcCommand[THROTTLE] = constrain(rcCommand[THROTTLE], mcfg.minthrottle + 150, mcfg.maxthrottle);
                     }
+                } else {
+                    // handle fixedwing-related althold. UNTESTED! and probably wrong
+                    // most likely need to check changes on pitch channel and 'reset' althold similar to
+                    // how throttle does it on multirotor
+                    rcCommand[PITCH] += BaroPID * mcfg.fixedwing_althold_dir;
+                }
             }
         }
 #endif

src/mw.h

@@ -265,6 +265,7 @@ typedef struct master_t {
     uint16_t maxcheck;                      // maximum rc end
     uint8_t retarded_arm;                   // allow disarsm/arm on throttle down + roll left/right
     uint8_t flaps_speed;                    // airplane mode flaps, 0 = no flaps, > 0 = flap speed, larger = faster
+    int8_t fixedwing_althold_dir;           // +1 or -1 for pitch/althold gain. later check if need more than just sign
 
     uint8_t rssi_aux_channel;               // Read rssi from channel. 1+ = AUX1+, 0 to disable.
 
@@ -314,6 +315,7 @@ typedef struct flags_t {
     uint8_t SMALL_ANGLES_25;
     uint8_t CALIBRATE_MAG;
     uint8_t VARIO_MODE;
+    uint8_t FIXED_WING;                     // set when in flying_wing or airplane mode. currently used by althold selection code
 } flags_t;
 
 extern int16_t gyroZero[3];