yaw control

Author: RCmags

controller-attiny85/controller-attiny85.ino

@@ -158,14 +158,15 @@ void loop() {
   float input[3]; filterInputs(input);
   float mix1[2]; vmix(mix1, input, GAIN_ROLL_DH, GAIN_PITCH_DH);   // differential dihedral
   float mix2[2]; vmix(mix2, input,-GAIN_ROLL_FM, GAIN_PITCH_FM);   // frequency modulation
-  
-  float amp1 = positive( input[2] + input[3] );
-  float amp2 = positive( input[2] - input[3] );
+
+  float input_yaw = input[0]*GAIN_YAW;    // use roll input as yaw
+  float amp1 = positive( input[2] + input_yaw );
+  float amp2 = positive( input[2] - input_yaw );
 
   float wave1 = fwave( input[2], mix2[0] ); 
   float wave2 = fwave( input[2], mix2[1] ); 
 
-  wave1 = wave1*amp1 + mix1[0];          // differential amplitude
+  wave1 = wave1*amp1 + mix1[0];           // differential amplitude
   wave2 = wave2*amp2 + mix1[1];
 
   servo[0].writeMicroseconds( PWM_MID + wave1 + TRIM_LEFT  );    // left wing

controller-attiny85/parameters.cpp

@@ -6,7 +6,7 @@
 // 2. Control inputs [negate to reverse direction]
     // I. Base inputs:
 #define GAIN_THRT         0.8          // Flapping amplitude. Increases with more throttle
-#define GAIN_YAW          0.4          // Differential amplitude. Controlled by rudder
+#define GAIN_YAW          0.2          // Differential amplitude. Controlled by rudder
     // II. Differential dihedral:
 #define GAIN_PITCH_DH     0.5          // Pitch: symmetric dihedral
 #define GAIN_ROLL_DH      0.5          // Roll: asymmetric dihedral
@@ -16,12 +16,12 @@
 
 // 3. Servo trims [ms]
 #define TRIM_LEFT         0            // left  wing 
-#define TRIM_RIGHT        -60          // right wing
+#define TRIM_RIGHT        0            // right wing
 
 // 6. Output PWM signal
 #define PWM_MID           1500         // Center/middle servo position
 #define PWM_MIN           1100         // Minimum servo position
 #define PWM_MAX           1900         // Maximum servo position
 
-// 7. Input deadband filter
+// 7. Input deadband filter [ms]
 #define INPUT_CHANGE      12           // Change in PWM signal needed to update receiver inputs