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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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7
src/mw.h
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@ -75,6 +75,12 @@ typedef enum MultiType
MULTITYPE_LAST = 18
} MultiType;
typedef enum GimbalFlags {
GIMBAL_NORMAL = 1 << 0,
GIMBAL_TILTONLY = 1 << 1,
GIMBAL_DISABLEAUX34 = 1 << 2,
} GimbalFlags;
/*********** RC alias *****************/
#define ROLL 0
#define PITCH 1
@ -168,6 +174,7 @@ typedef struct config_t {
// gimbal-related configuration
int8_t gimbal_pitch_gain; // gimbal pitch servo gain (tied to angle) can be negative to invert movement
int8_t gimbal_roll_gain; // gimbal roll servo gain (tied to angle) can be negative to invert movement
uint8_t gimbal_flags; // in servotilt mode, various things that affect stuff
uint16_t gimbal_pitch_min; // gimbal pitch servo min travel
uint16_t gimbal_pitch_max; // gimbal pitch servo max travel
uint16_t gimbal_pitch_mid; // gimbal pitch servo neutral value