/*
* V-Tail un-mixing
* Take the data going to both tail servos and extract the orthogonal axes.
* It is assumed that the mixed channels are ch1 and ch4
* All other channels do not change
*/
protected override IJoystickData Process(IJoystickData channels, int max, int min)
{
var inData = new[] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
var outData = new[] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
// Copy input data to input buffer
for (var i = 0; i < 6; i++)
{
inData[i] = channels.Data[i];
}
if (channels.Count >= 4)
{
var rudder = (max - min) / 2 + (inData[0] - inData[3]) / 4;
var elevator = (inData[0] + inData[3]) / 2;
outData[0] = elevator;
outData[1] = inData[1];
outData[2] = inData[2];
outData[3] = rudder;
outData[4] = inData[4];
outData[5] = inData[5];
outData[6] = inData[6];
outData[7] = inData[7];
outData[8] = inData[8];
outData[9] = inData[9];
outData[10] = inData[10];
outData[11] = inData[11];
}
return(new JoystickData(channels.Count, outData));
}
/*
* Contributed by by Joseph Congiundi
*
* Convert E-Sky CCPM 6 channel signal into 4 orthogonal channels
*
* CCPM operation:
* Rudder: Independent channel.
* Pitch: Obtained by Front servo going up (or down) while both rear servos going down (or up).
* Rear servos travel at 50% rate of the front servo.
* Elevator stick throw obtained from Front servo channel.
* Roll: Obtained by one rear servo going up and one rear servo going down.
* Aileron throw obtained from a Rear servo channel with the reduction of the Pitch element.
* Power: Throttle stick throw obtained from Power channel.
* When power channel in in the Mid to Max range, it also a Rear servo and the Front servo
*
* Input 6 channels are -
* Channel 1 (inData[0]) - Rear servo 1
* Channel 2 (inData[1]) - Front servo
* Channel 3 (inData[2]) - Power
* Channel 4 (inData[3]) - Rudder
* Channel 5 (inData[4]) - Not used
* Channel 6 (inData[6]) - Rear servo 2
*
* Output 4 channes are -
* Channel 1 (outData[0]) - Rudder
* Channel 2 (outData[1]) - Throttle
* Channel 3 (outData[2]) - Elevator
* Channel 4 (outData[3]) - Ailerons
*
* Input:
* channels Pointer to structure containing CCPM channel data
* channels.Count Number of input channels (only the first 6 are relevant)
* channels.Data[] Array of channel values
* min Minimum possible CCPM channel value
* max Maximum possible CCPM channel value
*
* Return:
* Pointer to structure containing orthogonal channel data (4ch)
*
*/
protected override IJoystickData Process(IJoystickData channels, int max, int min)
{
var inData = new[] { 0, 0, 0, 0, 0, 0 };
var outData = new[] { 0, 0, 0, 0, 0, 0, 0, 0 };
// Copy input data to input buffer
for (var i = 0; i < 6; i++)
{
inData[i] = channels.Data[i];
}
// Rudder
outData[0] = inData[3];
// Throttle = Power channel
outData[1] = inData[2];
// Elevator: Front servo (Pitch correction when power above mid-point)
outData[2] = inData[1] - (int)(.35 * inData[2]);
// Ailerons: Rear servo minus pitch effect (roll correction when power above mid-point)
outData[3] = (int)(max / 2 + inData[0] + .5 * inData[1] - .53 * inData[2]);
return(new JoystickData(4, outData));
}
/*
* Delta wing un-mixing
* Take the data going to both wing servos and extract the orthogonal axes.
* No rudder.
* It is assumed that the mixed channels are ch1 and ch2
* All other channels do not change
*/
protected override IJoystickData Process(IJoystickData channels, int max, int min)
{
// Copy input data to input buffer
for (var i = 0; i < 6; i++)
{
InData[i] = channels.Data[i];
}
if (channels.Count >= 2)
{
var ailerons = (max - min) / 2 + (InData[0] - InData[1]) / 4;
var elevator = (InData[0] + InData[1]) / 2;
OutData[0] = elevator;
OutData[1] = ailerons;
OutData[2] = InData[2];
OutData[3] = InData[3];
OutData[4] = InData[4];
OutData[5] = InData[5];
OutData[6] = InData[6];
OutData[7] = InData[7];
OutData[8] = InData[8];
OutData[9] = InData[9];
OutData[10] = InData[10];
OutData[11] = InData[11];
}
return(new JoystickData(channels.Count, OutData));
}
/*
* Contributed by Matthew Morrison
*
* Convert E-Sky CCPM 6 channel signal into 4 orthogonal channels and a 5th for blade pitch
*
* CCPM operation:
* Rudder: Independent channel.
* Elevator: Obtained by Front servo going up (or down) while both rear servos going down (or up).
* Roll: Obtained by one rear servo going up and one rear servo going down.
* Power: Throttle stick throw obtained from Power channel.
* Input 6 channels are -
* Channel 1 (inData[0]) - Rear servo 1
* Channel 2 (inData[1]) - Front servo
* Channel 3 (inData[2]) - Power
* Channel 4 (inData[3]) - Rudder
* Channel 5 (inData[4]) - Not used
* Channel 6 (inData[6]) - Rear servo 2
*
* Output 5 channels are -
* Channel 1 (outData[0]) - Rudder
* Channel 2 (outData[1]) - Throttle
* Channel 3 (outData[2]) - Elevator
* Channel 4 (outData[3]) - Ailerons
* Channel 5 (outData[4]) - Pitch
*
* Input:
* channels Pointer to structure containing CCPM channel data
* channels.Count Number of input channels (only the first 6 are relevant)
* channels.Data[] Array of channel values
* min Minimum possible CCPM channel value
* max Maximum possible CCPM channel value
*
* Return:
* Pointer to structure containing orthogonal channel data (5ch)
*
*/
protected override IJoystickData Process(IJoystickData channels, int max, int min)
{
var inData = new[] { 0, 0, 0, 0, 0, 0 };
var outData = new[] { 0, 0, 0, 0, 0, 0, 0, 0 };
var servo0 = max - inData[0]; // Servo 0 needs to be inverted
// Copy input data to input buffer
for (var i = 0; i < 6; i++)
{
inData[i] = channels.Data[i];
}
// Rudder
outData[0] = inData[3];
// Throttle = Power channel
outData[1] = inData[2];
// Pitch: average of all servos compared to the max
outData[4] = (int)(servo0 + inData[5] + inData[1]) / 3;
// Roll: the difference between the rear servos compared to the midpoint
outData[3] = (max / 2 + inData[5] - servo0) / 2;
// Elevator: the difference between the front servo and the mean of the rear servos
outData[2] = max / 2 + (inData[1] - (servo0 + inData[5]) / 2) / 2;
return(new JoystickData(5, outData));
}
/*
* NULL Filter
*/
protected override IJoystickData Process(IJoystickData channels, int max, int min)
{
var inData = new[] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
var outData = new[] { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
// Copy input data to input buffer
var limit = 12;
if (channels.Count < limit)
{
limit = channels.Count;
}
for (var i = 0; i < limit; i++)
{
outData[i] = channels.Data[i];
}
return(new JoystickData(channels.Count, outData));
}
protected abstract IJoystickData Process(IJoystickData channels, int max, int min);