[gentlenav] r3669 committed - branch: MatrixPilot_wjp_helicalTurns: Revision to account for 50% mixi...

[gent...@googlecode.com]

Revision: 3669
Author: wprem...@gmail.com
Date: Sun Jul 26 12:20:11 2015 UTC
Log: branch: MatrixPilot_wjp_helicalTurns: Revision to account for 50%
mixing at TX for delta wing and v-tail in the computation of commanded turn
rate in FBW control mode
https://code.google.com/p/gentlenav/source/detail?r=3669

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

=======================================
--- /branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/helicalTurnCntrl.c
Mon Jun 15 09:38:30 2015 UTC
+++ /branches/MatrixPilot_wjp_helicalTurns/MatrixPilot/helicalTurnCntrl.c
Sun Jul 26 12:20:11 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
}