Merge pull request #38 from Bengt-M/angles

tailServoMaxAngle
lkaino · May 30, 2016 · e50e801 · e50e801
2 parents f1f93d2 + 8612472
commit e50e801
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Showing 4 changed files with 7 additions and 6 deletions.
diff --git a/src/main/config/config.c b/src/main/config/config.c
@@ -137,7 +137,7 @@ static uint32_t activeFeaturesLatch = 0;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 113;
+static const uint8_t EEPROM_CONF_VERSION = 114;
 
 void resetPidProfile(pidProfile_t *pidProfile)
 {
@@ -325,7 +325,6 @@ static void resetMixerConfig(mixerConfig_t *mixerConfig) {
 #ifdef USE_SERVOS
     mixerConfig->tri_unarmed_servo = 1;
     mixerConfig->servo_lowpass_freq = 400.0f;
-    mixerConfig->tri_servo_angle_at_max = 400;
     mixerConfig->tri_tail_motor_thrustfactor = 138;
     mixerConfig->tri_tail_servo_speed = 300; // Default for BMS-210DMH at 5V
     mixerConfig->tri_servo_min_adc = 0;
@@ -514,6 +513,10 @@ STATIC_UNIT_TESTED void resetConf(void)
         currentProfile->servoConf[i].angleAtMax = DEFAULT_SERVO_MAX_ANGLE;
         currentProfile->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
     }
+    if (masterConfig.mixerMode == MIXER_TRI) {
+        currentProfile->servoConf[5].angleAtMin = 40;
+        currentProfile->servoConf[5].angleAtMax = 40;
+    }
 
     // gimbal
     currentProfile->gimbalConfig.mode = GIMBAL_MODE_NORMAL;

diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
@@ -82,7 +82,6 @@ typedef struct mixerConfig_s {
     uint8_t tri_unarmed_servo;              // send tail servo correction pulses even when unarmed
     float servo_lowpass_freq;             // lowpass servo filter frequency selection; 1/1000ths of loop freq
     int8_t servo_lowpass_enable;            // enable/disable lowpass filter
-    int16_t tri_servo_angle_at_max;
     int16_t tri_tail_motor_thrustfactor;
     int16_t tri_tail_servo_speed;
     uint8_t tri_servo_feedback;

diff --git a/src/main/flight/mixer_tricopter.c b/src/main/flight/mixer_tricopter.c
@@ -164,7 +164,7 @@ void triInitMixer(servoParam_t *pTailServoConfig,
     gpTailServoConf = pTailServoConfig;
     gpTailServo = pTailServo;
     tailServoThrustFactor = pMixerConfig->tri_tail_motor_thrustfactor / 10.0f;
-    tailServoMaxAngle = pMixerConfig->tri_servo_angle_at_max;
+    tailServoMaxAngle = gpTailServoConf->angleAtMax *10;
     tailServoSpeed = pMixerConfig->tri_tail_servo_speed;
     gpMixerConfig = pMixerConfig;
 
@@ -409,7 +409,7 @@ static uint16_t feedbackServoStep(mixerConfig_t *mixerConf, uint16_t tailServoAD
     const int32_t ADCFeedback = tailServoADC;
     const int16_t midValue = mixerConf->tri_servo_mid_adc;
     const int16_t endValue = ADCFeedback < midValue ? mixerConf->tri_servo_min_adc : mixerConf->tri_servo_max_adc;
-    const int16_t tailServoMaxAngle = mixerConf->tri_servo_angle_at_max;
+    const int16_t tailServoMaxAngle =  gpTailServoConf->angleAtMax *10;
     const int16_t endAngle = ADCFeedback < midValue ? TRI_TAIL_SERVO_ANGLE_MID - tailServoMaxAngle : TRI_TAIL_SERVO_ANGLE_MID + tailServoMaxAngle;
     return ((endAngle - TRI_TAIL_SERVO_ANGLE_MID) * (ADCFeedback - midValue) / (endValue - midValue) + TRI_TAIL_SERVO_ANGLE_MID);
 }

diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
@@ -604,7 +604,6 @@ const clivalue_t valueTable[] = {
     { "tri_unarmed_servo",          VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
     { "servo_lowpass_freq",         VAR_FLOAT  | MASTER_VALUE, &masterConfig.mixerConfig.servo_lowpass_freq, .config.minmax = { 10,  400} },
     { "servo_lowpass_enable",       VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
-    { "tri_servo_angle_at_max",     VAR_INT16  | MASTER_VALUE, &masterConfig.mixerConfig.tri_servo_angle_at_max, .config.minmax = { 0, 500 } },
     { "tri_tail_motor_thrustfactor",VAR_INT16  | MASTER_VALUE, &masterConfig.mixerConfig.tri_tail_motor_thrustfactor, .config.minmax = { TAIL_THRUST_FACTOR_MIN, TAIL_THRUST_FACTOR_MAX } },
     { "tri_tail_servo_speed",       VAR_INT16  | MASTER_VALUE, &masterConfig.mixerConfig.tri_tail_servo_speed, .config.minmax = { 0, 1000 } },
     { "tri_servo_feedback",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.tri_servo_feedback, .config.lookup = { TABLE_SERVO_FEEDBACK } },