Plane: move elevon variables into a structure

ericklan · Apr 15, 2013 · 8f091e7 · 8f091e7
1 parent 79c6f32
commit 8f091e7
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Showing 3 changed files with 28 additions and 19 deletions.
diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
@@ -295,13 +295,22 @@ enum FlightMode control_mode  = INITIALISING;
 uint8_t oldSwitchPosition;
 // This is used to enable the inverted flight feature
 bool inverted_flight     = false;
-// These are trim values used for elevon control
-// For elevons radio_in[CH_ROLL] and radio_in[CH_PITCH] are equivalent aileron and elevator, not left and right elevon
-static uint16_t elevon1_trim  = 1500;
-static uint16_t elevon2_trim  = 1500;
-// These are used in the calculation of elevon1_trim and elevon2_trim
-static uint16_t ch1_temp      = 1500;
-static uint16_t ch2_temp        = 1500;
+
+static struct {
+    // These are trim values used for elevon control
+    // For elevons radio_in[CH_ROLL] and radio_in[CH_PITCH] are
+    // equivalent aileron and elevator, not left and right elevon
+    uint16_t trim1;
+    uint16_t trim2;
+    // These are used in the calculation of elevon1_trim and elevon2_trim
+    uint16_t ch1_temp;
+    uint16_t ch2_temp;
+} elevon = {
+    .trim1 = 1500,
+    .trim2 = 1500,
+    .ch1_temp = 1500,
+    .ch2_temp = 1500
+};
 
 // A flag if GCS joystick control is in use
 static bool rc_override_active = false;

diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
@@ -610,8 +610,8 @@ static void set_servos(void)
 			}
 
             // directly set the radio_out values for elevon mode
-            g.channel_roll.radio_out  =     elevon1_trim + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0/ SERVO_MAX));
-            g.channel_pitch.radio_out =     elevon2_trim + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
+            g.channel_roll.radio_out  =     elevon.trim1 + (BOOL_TO_SIGN(g.reverse_ch1_elevon) * (ch1 * 500.0/ SERVO_MAX));
+            g.channel_pitch.radio_out =     elevon.trim2 + (BOOL_TO_SIGN(g.reverse_ch2_elevon) * (ch2 * 500.0/ SERVO_MAX));
         }
 
 #if OBC_FAILSAFE == ENABLED

diff --git a/ArduPlane/radio.pde b/ArduPlane/radio.pde
@@ -71,16 +71,16 @@ static void init_rc_out()
 
 static void read_radio()
 {
-    ch1_temp = hal.rcin->read(CH_ROLL);
-    ch2_temp = hal.rcin->read(CH_PITCH);
+    elevon.ch1_temp = hal.rcin->read(CH_ROLL);
+    elevon.ch2_temp = hal.rcin->read(CH_PITCH);
     uint16_t pwm_roll, pwm_pitch;
 
     if (g.mix_mode == 0) {
-        pwm_roll = ch1_temp;
-        pwm_pitch = ch2_temp;
+        pwm_roll = elevon.ch1_temp;
+        pwm_pitch = elevon.ch2_temp;
     }else{
-        pwm_roll = BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(ch2_temp - elevon2_trim) - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(ch1_temp - elevon1_trim)) / 2 + 1500;
-        pwm_pitch = (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(ch2_temp - elevon2_trim) + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(ch1_temp - elevon1_trim)) / 2 + 1500;
+        pwm_roll = BOOL_TO_SIGN(g.reverse_elevons) * (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(elevon.ch2_temp - elevon.trim2) - BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(elevon.ch1_temp - elevon.trim1)) / 2 + 1500;
+        pwm_pitch = (BOOL_TO_SIGN(g.reverse_ch2_elevon) * int16_t(elevon.ch2_temp - elevon.trim2) + BOOL_TO_SIGN(g.reverse_ch1_elevon) * int16_t(elevon.ch1_temp - elevon.trim1)) / 2 + 1500;
     }
 
     if (control_mode == TRAINING) {
@@ -202,11 +202,11 @@ static void trim_control_surfaces()
         RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_aileron_with_input);
         RC_Channel_aux::set_radio_trim(RC_Channel_aux::k_elevator_with_input);
     } else{
-        if (ch1_temp != 0) {
-            elevon1_trim = ch1_temp;
+        if (elevon.ch1_temp != 0) {
+            elevon.trim1 = elevon.ch1_temp;
         }
-        if (ch2_temp != 0) {
-            elevon2_trim = ch2_temp;
+        if (elevon.ch2_temp != 0) {
+            elevon.trim2 = elevon.ch2_temp;
         }
         //Recompute values here using new values for elevon1_trim and elevon2_trim
         //We cannot use radio_in[CH_ROLL] and radio_in[CH_PITCH] values from read_radio() because the elevon trim values have changed