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fix for pwm preload (not possible with this firmware, reported by marcin)

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added gimbal flags to mixer. allows making gimbal tilt only or pantilt or disabling all pan/tilt by aux3/4

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@149 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-04-10 07:19:57 +00:00
parent 8f80611324
commit f3a4e9f731
7 changed files with 2483 additions and 2441 deletions
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11
src/mixer.c
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@ -232,8 +232,15 @@ void mixTable(void)
// do camstab
if (feature(FEATURE_SERVO_TILT)) {
servo[0] = cfg.gimbal_pitch_mid + rcData[AUX3] - cfg.midrc;
servo[1] = cfg.gimbal_roll_mid + rcData[AUX4] - cfg.midrc;
uint16_t aux[2] = { 0, 0 };
if ((cfg.gimbal_flags & GIMBAL_NORMAL) || (cfg.gimbal_flags & GIMBAL_TILTONLY))
aux[0] = rcData[AUX3];
if (!(cfg.gimbal_flags & GIMBAL_DISABLEAUX34))
aux[1] = rcData[AUX4];
servo[0] = cfg.gimbal_pitch_mid + aux[0] - cfg.midrc;
servo[1] = cfg.gimbal_roll_mid + aux[1] - cfg.midrc;
if (rcOptions[BOXCAMSTAB]) {
servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16;