{"action":"created","issue":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/2137","labels_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2137/labels{/name}","comments_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2137/comments","events_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2137/events","html_url":"https://github.com/diydrones/ardupilot/pull/2137","id":69096685,"number":2137,"title":"Fixed differential spoilers support, added elevon offset (2015-04-15)","user":{"login":"ethomas997","id":3822131,"avatar_url":"https://avatars.githubusercontent.com/u/3822131?v=3","gravatar_id":"","url":"https://api.github.com/users/ethomas997","html_url":"https://github.com/ethomas997","followers_url":"https://api.github.com/users/ethomas997/followers","following_url":"https://api.github.com/users/ethomas997/following{/other_user}","gists_url":"https://api.github.com/users/ethomas997/gists{/gist_id}","starred_url":"https://api.github.com/users/ethomas997/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ethomas997/subscriptions","organizations_url":"https://api.github.com/users/ethomas997/orgs","repos_url":"https://api.github.com/users/ethomas997/repos","events_url":"https://api.github.com/users/ethomas997/events{/privacy}","received_events_url":"https://api.github.com/users/ethomas997/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/diydrones/ardupilot/labels/ArduPlane","name":"ArduPlane","color":"d7e102"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":7,"created_at":"2015-04-17T08:44:01Z","updated_at":"2015-07-17T11:34:10Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/diydrones/ardupilot/pulls/2137","html_url":"https://github.com/diydrones/ardupilot/pull/2137","diff_url":"https://github.com/diydrones/ardupilot/pull/2137.diff","patch_url":"https://github.com/diydrones/ardupilot/pull/2137.patch"},"body":"This is a resubmit of PR #1736, applied to ArduPlane v3.3.0beta as of 2015-04-15.\r\n\r\nFixes ArduPlane differential spoilers when ELEVON_MIXING=0 and ELEVON_OUTPUT>0 (mixing done in flight controller).  All flight modes are supported.  This functionality is used on flying wings with \"split elevons\" using two servos on each side.  In v3.2 of ArduPlane, differential spoilers are non-operational (see issue #1032).  This patch fixes them so they operate as described in the ArduPlane docs:  http://plane.ardupilot.com/wiki/differential-spoilers\r\n\r\nAdded parameter:  DSPOILR_RUD_RATE  \"Differential spoilers rudder rate\"\r\nSets the amount of deflection that the rudder output will apply to the differential spoilers, as a percentage. The default value of 100 results in full rudder applying full deflection. A value of 0 will result in the differential spoilers exactly following the elevons (no rudder effect).\r\n\r\nAdded parameter:  MIXING_OFFSET\r\nThe offset for the Vtail and elevon output mixers, as a percentage. This can be used in combination with MIXING_GAIN to configure how the control surfaces respond to input. The response to aileron or elevator input can be increased by setting this parameter to a positive or negative value. A common usage is to enter a positive value to increase the aileron response of the elevons of a flying wing. The default value of zero will leave the aileron-input response equal to the elevator-input response.\r\n\r\nNotes:  The new parameter DSPOILR_RUD_RATE allows the rudder effect to be \"toned down.\"  Otherwise it can be too easy to apply too much rudder-spoiler control and stall the wing.  The new parameter MIXING_OFFSET allows the elevon mixing on a wing to be tuned so that the \"aileron\" effect is greater than the \"elevator\" effect.  Flying wings are usually pitch-sensitive while being difficult to roll, so this tuning is desirable.\r\n\r\nI have successfully tested this patch (on APM2) in a 47\" Popwing, in Manual, Stabilized, and GPS-guided flight modes.  I've flown it (on APM2) with the patch applied to the ArduPlane v3.3.0beta1 released as 'ArduPlane-beta' on 2015-02-22.  I've bench tested the patch, applied to ArduPlane v3.3.0beta as of 2015-04-15, on APM2 and Pixhawk.\r\n\r\nSource and hex files are also posted here:  http://www.etheli.com/APM/ArduPlane_v3.2.0_etMod\r\n\r\nHere is sample set of parameters for testing the new functionality:\r\n\r\nDSPOILR_RUD_RATE,75\r\nELEVON_OUTPUT,2\r\nMIXING_OFFSET,75\r\nRC5_FUNCTION,16\r\nRC5_MAX,1900\r\nRC5_MIN,1100\r\nRC5_REV,1\r\nRC6_FUNCTION,17\r\nRC6_MAX,1900\r\nRC6_MIN,1100\r\nRC6_REV,1\r\n\r\nThe four servos are plugged into RC1, RC2, RC5 and RC6.  One thing to watch out for is that the RC5_MIN, RC5_MAX, RC6_MIN and RC6_MAX parameters can be modified when a radio calibration is performed.  If this happens, they should be restored to values like the ones above.\r\n\r\n--ET"},"comment":{"url":"https://api.github.com/repos/diydrones/ardupilot/issues/comments/122251922","html_url":"https://github.com/diydrones/ardupilot/pull/2137#issuecomment-122251922","issue_url":"https://api.github.com/repos/diydrones/ardupilot/issues/2137","id":122251922,"user":{"login":"lubotb","id":8672948,"avatar_url":"https://avatars.githubusercontent.com/u/8672948?v=3","gravatar_id":"","url":"https://api.github.com/users/lubotb","html_url":"https://github.com/lubotb","followers_url":"https://api.github.com/users/lubotb/followers","following_url":"https://api.github.com/users/lubotb/following{/other_user}","gists_url":"https://api.github.com/users/lubotb/gists{/gist_id}","starred_url":"https://api.github.com/users/lubotb/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/lubotb/subscriptions","organizations_url":"https://api.github.com/users/lubotb/orgs","repos_url":"https://api.github.com/users/lubotb/repos","events_url":"https://api.github.com/users/lubotb/events{/privacy}","received_events_url":"https://api.github.com/users/lubotb/received_events","type":"User","site_admin":false},"created_at":"2015-07-17T11:34:10Z","updated_at":"2015-07-17T11:34:10Z","body":"\nHi Tom,\nI think it is freely to merge that modification from Eric Thomas (http://www.etheli.com/APM/ArduPlane_v3.2.0_etMod/)\nI use that mod: v.3.2.3 and seems everything is OK.\nOf course every time we can wish more and more as adjustments.\nBut we freely can start from here! :)\nPlease, don't hesitate if you mind anything!\nSincerely!\n\nLubomir Bakalov\n\n\nOn Wed, 15 Jul 2015 07:51:50 -0700\nTom Pittenger <notifications@github.com> wrote:\n\n> Ooh, I just realized that this is a pull request instead of an issue! So much for replying to threads via email... If a solution is available, and you guys flight test it and confirm it's working. Then we should merge this in.\n> \n> ---\n> Reply to this email directly or view it on GitHub:\n> https://github.com/diydrones/ardupilot/pull/2137#issuecomment-121640800\n\n\n-- \nlbakalov <lbakalov@mail.bg>\n"}}