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| Rev 1927 | Rev 2025 | ||
|---|---|---|---|
| Line 59... | Line 59... | ||
| 59 | /* Neutral Readings */ |
59 | /* Neutral Readings */ |
| 60 | /************************************************************************/ |
60 | /************************************************************************/ |
| 61 | #define CONTROL_CONFIG_SCALE 10 |
61 | #define CONTROL_CONFIG_SCALE 10 |
| Line 62... | Line 62... | ||
| 62 | 62 | ||
| 63 | void flight_setNeutral() { |
- | |
| 64 | MKFlags |= MKFLAG_CALIBRATE; |
63 | void flight_setNeutral() { |
| 65 | // not really used here any more. |
64 | // not really used here any more. |
| 66 | controlMixer_initVariables(); |
65 | controlMixer_initVariables(); |
| Line 67... | Line 66... | ||
| 67 | } |
66 | } |
| Line 157... | Line 156... | ||
| 157 | /* Stick signals are positive and gyros are negative... */ |
156 | /* Stick signals are positive and gyros are negative... */ |
| 158 | /************************************************************************/ |
157 | /************************************************************************/ |
| 159 | IPart[PITCH] = error[PITCH]; // * some factor configurable. |
158 | IPart[PITCH] = error[PITCH]; // * some factor configurable. |
| 160 | IPart[ROLL] = error[ROLL]; |
159 | IPart[ROLL] = error[ROLL]; |
| 161 | // TODO: Add ipart. Or add/subtract depending, not sure. |
160 | // TODO: Add ipart. Or add/subtract depending, not sure. |
| 162 | term[PITCH] = control[CONTROL_ELEVATOR] + (staticParams.ControlSigns & 1 ? PDPart[PITCH] : -PDPart[PITCH]); |
161 | term[PITCH] = control[CONTROL_ELEVATOR] + (staticParams.servoDirections & SERVO_DIRECTION_ELEVATOR ? PDPart[PITCH] : -PDPart[PITCH]); |
| 163 | term[ROLL] = control[CONTROL_AILERONS] + (staticParams.ControlSigns & 2 ? PDPart[ROLL] : -PDPart[ROLL]); |
162 | term[ROLL] = control[CONTROL_AILERONS] + (staticParams.servoDirections & SERVO_DIRECTION_AILERONS ? PDPart[ROLL] : -PDPart[ROLL]); |
| 164 | yawTerm = control[CONTROL_RUDDER] + (staticParams.ControlSigns & 4 ? PDPartYaw : -PDPartYaw); |
163 | yawTerm = control[CONTROL_RUDDER] + (staticParams.servoDirections & SERVO_DIRECTION_RUDDER ? PDPartYaw : -PDPartYaw); |
| Line 165... | Line 164... | ||
| 165 | 164 | ||
| 166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 167 | // Universal Mixer |
166 | // Universal Mixer |
| 168 | // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |
167 | // Each (pitch, roll, throttle, yaw) term is in the range [0..255 * CONTROL_SCALING]. |