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[outback] use auto-rc instead of hard hack

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This commit is contained in:
Christophe De Wagter
2015-11-06 18:43:27 +01:00
parent b16cd353c9
commit f10b6bd575
2 changed files with 18 additions and 8 deletions
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conf/airframes/TUDelft/airframes/logo600.xml
+18 -6
View File
@@ -60,7 +60,7 @@
</modules>
<servos driver="Spektrum">
<servo name="THRUST" no="0" min="340" neutral="340" max="1708"/>
<servo name="THROTTLE" no="0" min="340" neutral="340" max="1708"/>
<servo name="ROLL" no="1" min="340" neutral="1024" max="1708"/>
<servo name="PITCH" no="2" min="1708" neutral="1024" max="340"/>
<servo name="YAW" no="3" min="340" neutral="1024" max="1708"/>
@@ -69,8 +69,15 @@
<servo name="AUX2" no="6" min="340" neutral="1024" max="1708"/>
</servos>
<section name="RADIO">
<define name="RADIO_COLLECTIVE" value="RADIO_FLAP"/>
<define name="RADIO_TAIL_GAIN" value="RADIO_AUX2"/>
</section>
<commands>
<axis name="THRUST" failsafe_value="0"/>
<axis name="THRUST" failsafe_value="0"/><!-- Ignored -->
<axis name="THROTTLE" failsafe_value="0"/>
<axis name="ROLL" failsafe_value="0"/>
<axis name="PITCH" failsafe_value="0"/>
<axis name="YAW" failsafe_value="0"/>
@@ -79,16 +86,20 @@
</commands>
<rc_commands>
<set command="THRUST" value="@THROTTLE"/>
<set command="THROTTLE" value="@THROTTLE"/>
<set command="ROLL" value="@ROLL"/>
<set command="PITCH" value="@PITCH"/>
<set command="YAW" value="@YAW"/>
<set command="COLLECTIVE" value="@FLAP"/>
<set command="TAIL_GAIN" value="@AUX2"/>
<set command="COLLECTIVE" value="@COLLECTIVE"/>
<set command="TAIL_GAIN" value="@TAIL_GAIN"/>
</rc_commands>
<auto_rc_commands>
<set command="TAIL_GAIN" value="@TAIL_GAIN"/>
</auto_rc_commands>
<command_laws>
<set servo="THRUST" value="@THRUST"/>
<set servo="THROTTLE" value="@THRUST"/>
<set servo="ROLL" value="@ROLL"/>
<set servo="PITCH" value="@PITCH"/>
<set servo="YAW" value="@YAW"/>
@@ -98,6 +109,7 @@
</command_laws>
<section name="MISC">
<define name="ROTORCRAFT_COMMANDS_YAW_ALWAYS_ENABLED" value="TRUE" />
<define name="NAV_CLIMB_VSPEED" value="2.5"/>
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NO_RC_THRUST_LIMIT" value="TRUE"/>
sw/airborne/firmwares/rotorcraft/main.c
-2
View File
@@ -280,8 +280,6 @@ STATIC_INLINE void main_periodic(void)
#ifndef INTER_MCU_AP
SetActuatorsFromCommands(commands, autopilot_mode);
#else
#warning ALL IS GOOD
commands[COMMAND_THRUST] = radio_control.values[RADIO_THROTTLE];\
intermcu_set_actuators(commands, autopilot_mode);
#endif