figures

Author: RCmags

README.md

@@ -5,7 +5,7 @@ The program is designed to receive 4 PWM inputs from an RC receiver operating in
 
 The aileron (1) and elevator (2) channels are used to modify the motion of the wings and to control the tail. The dihedral angle of the wings is altered in unison with elevator, while the aileron rotates them in opposite directions. Simultaneously, the frequency of the wing-oscillation can be modulated, such that the wings move faster during the downstroke or during the uptroke. Depending on whether this is done symmetrically or assymetrically, one can obtain pitch or roll control. 
 
-<img src = "img/triangle-freq-mod.png" width = "50%">
+<img src = "img/triangle-fmod.png" width = "50%">
 
 The throttle channel (3) control the amplitude of a fixed-frequency oscillation. By the default, the waveform is a triangle-wave, but the throttle can also be used to trucante the wave so it looks more like a square wave. Using a square wave allows the servo to output more mechanical power, but the transition between strokes is abrupt. The truncated-wave eases this transition.