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BUSMINI: 3H altitude hold mode on CH11

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Pascal Langer
2019-05-09 23:56:06 +02:00
parent 8d10c9b004
commit fc3eec7ae1
3 changed files with 10 additions and 10 deletions
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9
Multiprotocol/BUGSMINI_nrf24l01.ino
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@@ -42,6 +42,7 @@ enum {
#define BUGSMINI_CH_SW_PICTURE CH8_SW
#define BUGSMINI_CH_SW_VIDEO CH9_SW
#define BUGSMINI_CH_SW_LED CH10_SW
#define BUGSMINI_CH_SW_ALTHOLD CH11_SW
// flags packet[12]
#define BUGSMINI_FLAG_FLIP 0x08 // automatic flip
@@ -54,6 +55,7 @@ enum {
#define BUGSMINI_FLAG_ARM 0x40 // arm (toggle to turn on motors)
#define BUGSMINI_FLAG_DISARM 0x20 // disarm (toggle to turn off motors)
#define BUGSMINI_FLAG_ANGLE 0x02 // angle/acro mode (set is angle mode)
#define BUGSMINI_FLAG_ALTHOLD 0x04 // angle/altitude hold mode (set is altitude mode)
static void __attribute__((unused)) BUGSMINI_init()
{
@@ -133,7 +135,7 @@ static void __attribute__((unused)) BUGSMINI_send_packet(uint8_t bind)
packet[10]= (((rudder / 5) >> 1) + 7) // dynamic trim 0x07 - 0x39
| (rudder << 7);
packet[11]= 0x40 | (throttle << 7);
packet[12]= 0x80 | ((packet[12] ^ 0x40) & 0x40) // bugs 3 H doesn't have 0x80 ?
packet[12]= 0x80 | ((packet[12] ^ 0x40) & 0x40)
| BUGSMINI_FLAG_MODE
| GET_FLAG(BUGSMINI_CH_SW_PICTURE, BUGSMINI_FLAG_PICTURE)
| GET_FLAG(BUGSMINI_CH_SW_VIDEO, BUGSMINI_FLAG_VIDEO);
@@ -141,10 +143,11 @@ static void __attribute__((unused)) BUGSMINI_send_packet(uint8_t bind)
packet[12] |= GET_FLAG(BUGSMINI_CH_SW_FLIP, BUGSMINI_FLAG_FLIP);
packet[13] = arm_flags
| GET_FLAG(BUGSMINI_CH_SW_LED, BUGSMINI_FLAG_LED)
| GET_FLAG(BUGSMINI_CH_SW_ALTHOLD, BUGSMINI_FLAG_ALTHOLD)
| GET_FLAG(BUGSMINI_CH_SW_ANGLE, BUGSMINI_FLAG_ANGLE);
// BUGS3H althold -> BUGSMINI_FLAG_ALTHOLD|BUGSMINI_FLAG_ANGLE , angle -> 0
packet[14] = 0;
packet[15] = 0; // 0x53 on bugs 3 H ?
packet[15] = 0; // a lot of 0x53 and some 0x52 on bugs 3H
}
uint8_t checksum = 0x6d;
for(uint8_t i=1; i < BUGSMINI_TX_PAYLOAD_SIZE; i++)