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Code Issues Wiki Activity

Increase servo mix max rate (#4306)

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Michel Pastor 2019-02-08 21:10:32 +01:00 • committed by GitHub
parent 1dbc1a452c
commit 7f6e45cb5b
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GPG key ID: 4AEE18F83AFDEB23
4 changed files with 7 additions and 7 deletions
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2
src/main/fc/cli.c
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@ -1530,7 +1530,7 @@ static void cliServoMix(char *cmdline)
if (i >= 0 && i < MAX_SERVO_RULES &&
args[TARGET] >= 0 && args[TARGET] < MAX_SUPPORTED_SERVOS &&
args[INPUT] >= 0 && args[INPUT] < INPUT_SOURCE_COUNT &&
args[RATE] >= -125 && args[RATE] <= 125 &&
args[RATE] >= -1000 && args[RATE] <= 1000 &&
args[SPEED] >= 0 && args[SPEED] <= MAX_SERVO_SPEED) {
customServoMixersMutable(i)->targetChannel = args[TARGET];
customServoMixersMutable(i)->inputSource = args[INPUT];

6
src/main/fc/fc_msp.c
View file

@ -455,7 +455,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
for (int i = 0; i < MAX_SERVO_RULES; i++) {
sbufWriteU8(dst, customServoMixers(i)->targetChannel);
sbufWriteU8(dst, customServoMixers(i)->inputSource);
sbufWriteU8(dst, customServoMixers(i)->rate);
sbufWriteU16(dst, customServoMixers(i)->rate);
sbufWriteU8(dst, customServoMixers(i)->speed);
sbufWriteU8(dst, 0);
sbufWriteU8(dst, 100);
@ -1810,10 +1810,10 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
case MSP_SET_SERVO_MIX_RULE:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize >= 8) && (tmp_u8 < MAX_SERVO_RULES)) {
if ((dataSize >= 9) && (tmp_u8 < MAX_SERVO_RULES)) {
customServoMixersMutable(tmp_u8)->targetChannel = sbufReadU8(src);
customServoMixersMutable(tmp_u8)->inputSource = sbufReadU8(src);
customServoMixersMutable(tmp_u8)->rate = sbufReadU8(src);
customServoMixersMutable(tmp_u8)->rate = sbufReadU16(src);
customServoMixersMutable(tmp_u8)->speed = sbufReadU8(src);
sbufReadU16(src); //Read 2bytes for min/max and ignore it
sbufReadU8(src); //Read 1 byte for `box` and ignore it

4
src/main/flight/servos.c
View file

@ -231,8 +231,8 @@ void servoMixer(float dT)
input[INPUT_FEATURE_FLAPS] = FLIGHT_MODE(FLAPERON) ? servoConfig()->flaperon_throw_offset : 0;
if (IS_RC_MODE_ACTIVE(BOXCAMSTAB)) {
input[INPUT_GIMBAL_PITCH] = scaleRange(attitude.values.pitch, -1800, 1800, -1000, +1000);
input[INPUT_GIMBAL_ROLL] = scaleRange(attitude.values.roll, -1800, 1800, -1000, +1000);
input[INPUT_GIMBAL_PITCH] = scaleRange(attitude.values.pitch, -1800, 1800, -500, +500);
input[INPUT_GIMBAL_ROLL] = scaleRange(attitude.values.roll, -1800, 1800, -500, +500);
} else {
input[INPUT_GIMBAL_PITCH] = 0;
input[INPUT_GIMBAL_ROLL] = 0;

2
src/main/flight/servos.h
View file

@ -91,7 +91,7 @@ typedef enum {
typedef struct servoMixer_s {
uint8_t targetChannel; // servo that receives the output of the rule
uint8_t inputSource; // input channel for this rule
int8_t rate; // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
int16_t rate; // range [-1000;+1000] ; can be used to adjust a rate 0-1000% and a direction
uint8_t speed; // reduces the speed of the rule, 0=unlimited speed
} servoMixer_t;