From 006e6629f6b70bf6d8a38fac525acf2c7cf80b00 Mon Sep 17 00:00:00 2001 From: "timecop@gmail.com" Date: Thu, 27 Dec 2012 13:23:43 +0000 Subject: [PATCH] Added GIMBAL_MIXTILT (16) to gimbal_flags. Setting gimbal_flags=16 will use "mixed" gimbal i.e. SERVO_MIX_TILT from MultiWii. Untested, but should work(tm). git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@239 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61 --- obj/baseflight.hex | 5708 ++++++++++++++++++++++---------------------- src/mixer.c | 9 +- src/mw.h | 1 + 3 files changed, 2864 insertions(+), 2854 deletions(-) diff --git a/obj/baseflight.hex b/obj/baseflight.hex index 2aa063a65..dd2e74eba 100644 --- a/obj/baseflight.hex +++ b/obj/baseflight.hex @@ -1,20 +1,20 @@ :020000040800F2 -:10000000481E00200189000841890008D31F00080C -:100010004589000847890008498900080000000058 -:100020000000000000000000000000004B890008F4 -:100030004D890008000000004F890008E56A0008AB -:100040005389000853890008538900085389000820 -:100050005389000853890008538900082B7400084D -:100060005389000853890008538900085389000800 -:100070005389000853890008FF6C00085389000861 -:1000800053890008538900085389000853890008E0 -:100090005389000853890008538900082D7400080B -:1000A0005389000853890008538900081367000822 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+:10C4C0000144B94584A24A04380C0102030406075A +:0CC4D00008090204062329106914C100A9 :04000005080000ED02 :00000001FF diff --git a/src/mixer.c b/src/mixer.c index 74ac4f2dc..34fee3dbd 100755 --- a/src/mixer.c +++ b/src/mixer.c @@ -346,8 +346,13 @@ void mixTable(void) servo[1] = cfg.gimbal_roll_mid + aux[1]; if (rcOptions[BOXCAMSTAB]) { - servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16; - servo[1] += cfg.gimbal_roll_gain * angle[ROLL] / 16; + if (cfg.gimbal_flags & GIMBAL_MIXTILT) { + servo[0] = (-cfg.gimbal_roll_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16; + servo[1] = (-cfg.gimbal_roll_gain) * angle[PITCH] / 16 - cfg.gimbal_roll_gain * angle[ROLL] / 16; + } else { + servo[0] += cfg.gimbal_pitch_gain * angle[PITCH] / 16; + servo[1] += cfg.gimbal_roll_gain * angle[ROLL] / 16; + } } servo[0] = constrain(servo[0], cfg.gimbal_pitch_min, cfg.gimbal_pitch_max); diff --git a/src/mw.h b/src/mw.h index abc981acc..2f47a83b5 100755 --- a/src/mw.h +++ b/src/mw.h @@ -47,6 +47,7 @@ typedef enum GimbalFlags { GIMBAL_TILTONLY = 1 << 1, GIMBAL_DISABLEAUX34 = 1 << 2, GIMBAL_FORWARDAUX = 1 << 3, + GIMBAL_MIXTILT = 1 << 4, } GimbalFlags; /*********** RC alias *****************/