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New mixer inputs for stabilized axises #4148

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Merged
merged 2 commits into from
Feb 26, 2019
Merged

New mixer inputs for stabilized axises #4148

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072f40a
New mixer inputs for stabilized axises
DzikuVx Jan 3, 2019
59b1ff6
Merge remote-tracking branch 'origin/development' into dzikuvx-new-mi…
DzikuVx Feb 25, 2019
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6 changes: 6 additions & 0 deletions docs/Mixer.md
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,12 @@ Each servo mixing rule has the following parameters:
| 20 | RC channel 14 | Raw RC channel 14 |
| 21 | RC channel 15 | Raw RC channel 15 |
| 22 | RC channel 16 | Raw RC channel 16 |
| 23 | Stabilized ROLL+ | Clipped between 0 and 1000 |
| 24 | Stabilized ROLL- | Clipped between -1000 and 0 |
| 25 | Stabilized PITCH+ | Clipped between 0 and 1000 |
| 26 | Stabilized PITCH- | Clipped between -1000 and 0 |
| 27 | Stabilized YAW+ | Clipped between 0 and 1000 |
| 28 | Stabilized YAW- | Clipped between -1000 and 0 |


The `smix reset` command removes all the existing motor mixing rules.
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7 changes: 7 additions & 0 deletions src/main/flight/servos.c
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Expand Up @@ -228,6 +228,13 @@ void servoMixer(float dT)
}
}

input[INPUT_STABILIZED_ROLL_PLUS] = constrain(input[INPUT_STABILIZED_ROLL], 0, 1000);
input[INPUT_STABILIZED_ROLL_MINUS] = constrain(input[INPUT_STABILIZED_ROLL], -1000, 0);
input[INPUT_STABILIZED_PITCH_PLUS] = constrain(input[INPUT_STABILIZED_PITCH], 0, 1000);
input[INPUT_STABILIZED_PITCH_MINUS] = constrain(input[INPUT_STABILIZED_PITCH], -1000, 0);
input[INPUT_STABILIZED_YAW_PLUS] = constrain(input[INPUT_STABILIZED_YAW], 0, 1000);
input[INPUT_STABILIZED_YAW_MINUS] = constrain(input[INPUT_STABILIZED_YAW], -1000, 0);

input[INPUT_FEATURE_FLAPS] = FLIGHT_MODE(FLAPERON) ? servoConfig()->flaperon_throw_offset : 0;

if (IS_RC_MODE_ACTIVE(BOXCAMSTAB)) {
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54 changes: 30 additions & 24 deletions src/main/flight/servos.h
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Expand Up @@ -23,30 +23,36 @@

// These must be consecutive
typedef enum {
INPUT_STABILIZED_ROLL = 0,
INPUT_STABILIZED_PITCH = 1,
INPUT_STABILIZED_YAW = 2,
INPUT_STABILIZED_THROTTLE = 3,
INPUT_RC_ROLL = 4,
INPUT_RC_PITCH = 5,
INPUT_RC_YAW = 6,
INPUT_RC_THROTTLE = 7,
INPUT_RC_CH5 = 8,
INPUT_RC_CH6 = 9,
INPUT_RC_CH7 = 10,
INPUT_RC_CH8 = 11,
INPUT_GIMBAL_PITCH = 12,
INPUT_GIMBAL_ROLL = 13,
INPUT_FEATURE_FLAPS = 14,
INPUT_RC_CH9 = 15,
INPUT_RC_CH10 = 16,
INPUT_RC_CH11 = 17,
INPUT_RC_CH12 = 18,
INPUT_RC_CH13 = 19,
INPUT_RC_CH14 = 20,
INPUT_RC_CH15 = 21,
INPUT_RC_CH16 = 22,

INPUT_STABILIZED_ROLL = 0,
INPUT_STABILIZED_PITCH = 1,
INPUT_STABILIZED_YAW = 2,
INPUT_STABILIZED_THROTTLE = 3,
INPUT_RC_ROLL = 4,
INPUT_RC_PITCH = 5,
INPUT_RC_YAW = 6,
INPUT_RC_THROTTLE = 7,
INPUT_RC_CH5 = 8,
INPUT_RC_CH6 = 9,
INPUT_RC_CH7 = 10,
INPUT_RC_CH8 = 11,
INPUT_GIMBAL_PITCH = 12,
INPUT_GIMBAL_ROLL = 13,
INPUT_FEATURE_FLAPS = 14,
INPUT_RC_CH9 = 15,
INPUT_RC_CH10 = 16,
INPUT_RC_CH11 = 17,
INPUT_RC_CH12 = 18,
INPUT_RC_CH13 = 19,
INPUT_RC_CH14 = 20,
INPUT_RC_CH15 = 21,
INPUT_RC_CH16 = 22,
INPUT_STABILIZED_ROLL_PLUS = 23,
INPUT_STABILIZED_ROLL_MINUS = 24,
INPUT_STABILIZED_PITCH_PLUS = 25,
INPUT_STABILIZED_PITCH_MINUS = 26,
INPUT_STABILIZED_YAW_PLUS = 27,
INPUT_STABILIZED_YAW_MINUS = 28,

INPUT_SOURCE_COUNT
} inputSource_e;

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