Make servoMixer work for types other than CUSTOM_PLANE #289
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* Added SERVO_MIXER feature to enable the servo mixer regardless of craft type * Reset servos before applying servo values due to SERVO_TILT feature or GIMBAL type * Servo mixer rules can override values set by SERVO_TILT feature and GIMBAL type * Only apply rates to servo values affected by servo mixer rules * Apply servo values to channels 1 and 2 when SERVO_MIXER feature is enabled * Fix bug where input values in servoMixer were reversed due to subtracting the RC value from the RC middle value * Center all servos by default
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Can one of the admins verify this patch? |
| @@ -463,6 +474,13 @@ void writeAllMotors(int16_t mc) | |||
| writeMotors(); | |||
| } | |||
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| static void resetServos(void) { | |||
| // run the servo mixer if necessary | ||
| if (core.useServo == 1) { | ||
| servoMixer(); | ||
| } |
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single line if does not need braces
| @@ -588,20 +606,14 @@ void mixTable(void) | |||
| } | |||
| } | |||
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| // run the servo mixer if necessary | |||
| if (core.useServo == 1) | |||
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just if (core.useServo) is fine, rest of the code does this
trollcop
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Jul 15, 2015
Make servoMixer work for types other than CUSTOM_PLANE
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Motivation
I wanted to use the servo mixer to assign a certain switch to control a servo on a certain ESC header on my quadcopter.
This change lets you enable the servo mixer for and create rules to do just that.
Usage: Control servos on a QUADX
The wiring is as follows:
Header 1: Servo 1
Header 2: Servo 2
Header 3: Motor 1
Header 4: Motor 2
Header 5: Motor 3
Header 6: Motor 4
Changes
When is servo mixer enabled?
Assuming you've set
feature SERVOMIXER, the servo mixer is enabled as follows, based on your type:Servo mixer is enabled and works as it currently does, but only on the servos that are already used by this multitype
Servo mixer works for servos 1 and 2