[gentlenav] r3670 committed - branch: MatrixPilot_helicalTurns: Revised computation of commanded tur...

[gent...@googlecode.com]

Revision: 3670
Author: wprem...@gmail.com
Date: Sun Jul 26 12:22:30 2015 UTC
Log: branch: MatrixPilot_helicalTurns: Revised computation of
commanded turn rate in FBW control mode for delta wing and v-tail to
account for 50% mixing at the TX.
https://code.google.com/p/gentlenav/source/detail?r=3670

Modified:
/branches/MatrixPilot_helicalTurns/MatrixPilot/helicalTurnCntrl.c

=======================================
--- /branches/MatrixPilot_helicalTurns/MatrixPilot/helicalTurnCntrl.c Mon
Jul 6 08:18:41 2015 UTC
+++ /branches/MatrixPilot_helicalTurns/MatrixPilot/helicalTurnCntrl.c Sun
Jul 26 12:22:30 2015 UTC
@@ -256,7 +256,7 @@
// unmix the Vtail
int16_t rudderInput = REVERSE_IF_NEEDED(RUDDER_CHANNEL_REVERSED,
(udb_pwIn[ RUDDER_INPUT_CHANNEL] - udb_pwTrim[RUDDER_INPUT_CHANNEL]));
int16_t elevatorInput = REVERSE_IF_NEEDED(ELEVATOR_CHANNEL_REVERSED,
(udb_pwIn[ ELEVATOR_INPUT_CHANNEL] - udb_pwTrim[ELEVATOR_INPUT_CHANNEL]));
- steeringInput = (-rudderInput + elevatorInput) >> 1;
+ steeringInput = (-rudderInput + elevatorInput);
}
else
{
@@ -269,7 +269,7 @@
// unmix the elevons
int16_t aileronInput = REVERSE_IF_NEEDED(AILERON_CHANNEL_REVERSED,
(udb_pwIn[AILERON_INPUT_CHANNEL] - udb_pwTrim[AILERON_INPUT_CHANNEL]));
int16_t elevatorInput = REVERSE_IF_NEEDED(ELEVATOR_CHANNEL_REVERSED,
(udb_pwIn[ELEVATOR_INPUT_CHANNEL] - udb_pwTrim[ELEVATOR_INPUT_CHANNEL]));
- steeringInput = REVERSE_IF_NEEDED(ELEVON_VTAIL_SURFACES_REVERSED,
((elevatorInput - aileronInput) >> 1));
+ steeringInput = REVERSE_IF_NEEDED(ELEVON_VTAIL_SURFACES_REVERSED,
((elevatorInput - aileronInput)));
#endif // AIRFRAME_DELTA
}