As part of my work to fix the RC Map problem for AC3.3, it makes sense to fix the Tricopter tail servo problems at the same time. The timing on this work is really tight as we're down to the wire to make it into AC3.3. Unfortunately I don't have a tricopter to use, so I need help from some keen testers who will be able to load and fly a custom binary that will be based on the AC3.3 RC releases. I have a couple of things I'd like to accomplish:
1) Allow proper independent servo reversing, without the current hack which is to use the Ch7 reverse.
2) Allow proper tail servo endpoint adjustment so that servo will not move beyond mechanical limits, ever.
3) Allow tail servo to always move while disarmed. Currently it appears it doesn't move until it's armed?
Are there any other issues I should be aware of?
One idea I had while looking at the code, was the concept of doing straight control pass-through of the tail servo control while disarmed. It would bypass the PID, and would map the stick directly to the servo. This would allow you to easily check servo operation. The disadvantage would be, you could not see the PID action.
What do you think, which way would be more useful?