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BUSMINI: 3H altitude hold mode on CH11

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This commit is contained in:
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
View File

@ -42,6 +42,7 @@ enum {
#define BUGSMINI_CH_SW_PICTURE CH8_SW #define BUGSMINI_CH_SW_PICTURE CH8_SW
#define BUGSMINI_CH_SW_VIDEO CH9_SW #define BUGSMINI_CH_SW_VIDEO CH9_SW
#define BUGSMINI_CH_SW_LED CH10_SW #define BUGSMINI_CH_SW_LED CH10_SW
#define BUGSMINI_CH_SW_ALTHOLD CH11_SW
// flags packet[12] // flags packet[12]
#define BUGSMINI_FLAG_FLIP 0x08 // automatic flip #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_ARM 0x40 // arm (toggle to turn on motors)
#define BUGSMINI_FLAG_DISARM 0x20 // disarm (toggle to turn off 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_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() 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 packet[10]= (((rudder / 5) >> 1) + 7) // dynamic trim 0x07 - 0x39
| (rudder << 7); | (rudder << 7);
packet[11]= 0x40 | (throttle << 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 | BUGSMINI_FLAG_MODE
| GET_FLAG(BUGSMINI_CH_SW_PICTURE, BUGSMINI_FLAG_PICTURE) | GET_FLAG(BUGSMINI_CH_SW_PICTURE, BUGSMINI_FLAG_PICTURE)
| GET_FLAG(BUGSMINI_CH_SW_VIDEO, BUGSMINI_FLAG_VIDEO); | 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[12] |= GET_FLAG(BUGSMINI_CH_SW_FLIP, BUGSMINI_FLAG_FLIP);
packet[13] = arm_flags packet[13] = arm_flags
| GET_FLAG(BUGSMINI_CH_SW_LED, BUGSMINI_FLAG_LED) | 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); | GET_FLAG(BUGSMINI_CH_SW_ANGLE, BUGSMINI_FLAG_ANGLE);
// BUGS3H althold -> BUGSMINI_FLAG_ALTHOLD|BUGSMINI_FLAG_ANGLE , angle -> 0
packet[14] = 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; uint8_t checksum = 0x6d;
for(uint8_t i=1; i < BUGSMINI_TX_PAYLOAD_SIZE; i++) for(uint8_t i=1; i < BUGSMINI_TX_PAYLOAD_SIZE; i++)

9
Multiprotocol/Bayang_nrf24l01.ino
View File

@ -62,7 +62,7 @@ static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
else else
#else #else
if(option & BAYANG_OPTION_FLAG_ANALOGAUX) if(option & BAYANG_OPTION_FLAG_ANALOGAUX)
packet[0]= 0xA2; // analog aux is enabled packet[0]= 0xA2; // analog aux is enabled
else else
#endif #endif
packet[0]= 0xA4; packet[0]= 0xA4;
@ -83,8 +83,6 @@ static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
case DHD_D4: case DHD_D4:
packet[10] = 0xC8; packet[10] = 0xC8;
packet[11] = 0x99; packet[11] = 0x99;
packet[12] = 0x17;
packet[13] = 0xED;
break; break;
default: default:
packet[10] = rx_tx_addr[0]; // txid[0] packet[10] = rx_tx_addr[0]; // txid[0]
@ -174,14 +172,13 @@ static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
packet[13] = 0x2E; packet[13] = 0x2E;
break; break;
case DHD_D4: case DHD_D4:
packet[12] = 0x37; packet[12] = 0x37; //0x17 during bind
packet[13] = 0xED; packet[13] = 0xED;
break; break;
default: default:
packet[12] = rx_tx_addr[2]; // txid[2] packet[12] = rx_tx_addr[2]; // txid[2]
if (option & BAYANG_OPTION_FLAG_ANALOGAUX) if (option & BAYANG_OPTION_FLAG_ANALOGAUX)
{ { // Analog aux channel 2 (channel 15)
// Analog aux channel 2 (channel 15)
packet[13] = convert_channel_8b(CH15); packet[13] = convert_channel_8b(CH15);
} }
else else

2
Multiprotocol/Multiprotocol.h
View File

@ -19,7 +19,7 @@
#define VERSION_MAJOR 1 #define VERSION_MAJOR 1
#define VERSION_MINOR 2 #define VERSION_MINOR 2
#define VERSION_REVISION 1 #define VERSION_REVISION 1
#define VERSION_PATCH_LEVEL 41 #define VERSION_PATCH_LEVEL 42
//****************** //******************
// Protocols // Protocols