I was wondering if anyone could confirm the default pwm output conventions used by the quadplane controller for some control surface servo functions. I can’t seem to find this documented.
Current assumption for how the controller sees servos in the default configuration without reversal is below–please correct if wrong. (This would be for operation in any auto-mode, e.g. if the controller wants to roll right it will set the aileron function pwm ‘high’.)
SERVOx_FUNCTION = 4 (aileron)
pwm HIGH == positive rolling moment (roll right)
SERVOx_FUNCTION = 19 (elevator)
pwm HIGH == positive pitching moment (pitch up)
SERVOx_FUNCTION = 21 (rudder)
pwm HIGH == positive yaw moment (yaw right)
What I’m most interested is the V-tail. Based on how the mixing gain is described (V-Tail Planes — Plane documentation) I assumed:
SERVOx_FUNCTION = 79 (VtailLeft)
pwm HIGH == positive yaw moment (yaw right)
pwm HIGH == positive pitch moment (pitch up)
SERVOx_FUNCTION = 80 (VtailRight)
pwm HIGH == negative yaw moment (yaw left)
pwm HIGH == positive pitch moment (pitch up)
Is there a document (or source code) I could look at to confirm this?