TX Stick inverting
Posted: Sun Jun 09, 2013 11:18 am
Hi guys,
as I want to control multiple copters with different boards, but with only one TX setup, I tried to integrate a "function" in MultiWii 2.2 to inverse stick travel:
RX.ino:
So far it works with my quadcopter. I put the constants into the config.h, Section 3:
Any ideas, issues or improvements ??
as I want to control multiple copters with different boards, but with only one TX setup, I tried to integrate a "function" in MultiWii 2.2 to inverse stick travel:
RX.ino:
Code: Select all
/**************************************************************************************/
/*************** compute and Filter the RX data ********************/
/**************************************************************************************/
void computeRC() {
static uint16_t rcData4Values[RC_CHANS][4], rcDataMean[RC_CHANS];
static uint8_t rc4ValuesIndex = 0;
uint8_t chan,a;
#if !(defined(RCSERIAL) || defined(OPENLRSv2MULTI)) // dont know if this is right here
#if defined(SBUS)
readSBus();
#endif
rc4ValuesIndex++;
if (rc4ValuesIndex == 4) rc4ValuesIndex = 0;
for (chan = 0; chan < RC_CHANS; chan++) {
#if defined(FAILSAFE)
uint16_t rcval = readRawRC(chan);
if(rcval>FAILSAFE_DETECT_TRESHOLD || chan > 3) { // update controls channel only if pulse is above FAILSAFE_DETECT_TRESHOLD
rcData4Values[chan][rc4ValuesIndex] = rcval;
}
#else
rcData4Values[chan][rc4ValuesIndex] = readRawRC(chan);
#endif
rcDataMean[chan] = 0;
for (a=0;a<4;a++) rcDataMean[chan] += rcData4Values[chan][a];
rcDataMean[chan]= (rcDataMean[chan]+2)>>2;
if ( rcDataMean[chan] < (uint16_t)rcData[chan] -3) rcData[chan] = rcDataMean[chan]+2;
if ( rcDataMean[chan] > (uint16_t)rcData[chan] +3) rcData[chan] = rcDataMean[chan]-2;
}
//********************************************************************
//*********************** Stick inverting *************************
#ifdef ROLL_INV
rcData[ROLL] = 3000 - rcData[ROLL];
#endif
#ifdef PITCH_INV
rcData[PITCH] = 3000 - rcData[PITCH];
#endif
#ifdef YAW_INV
rcData[YAW] = 3000 - rcData[YAW];
#endif
//*********************** END Stick inverting *************************
//************************************************************************
#endif
}
So far it works with my quadcopter. I put the constants into the config.h, Section 3:
Code: Select all
//************************************************************************
//*********************** Stick inverting ****************************
// Uncommenting following line inverts TX Stick travel
// #define ROLL_INV
#define PITCH_INV
#define YAW_INV
//*********************** END Stick inverting ***********************
//************************************************************************
Any ideas, issues or improvements ??