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SRV_Channel: fix get_output_norm comment

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also minor formatting fix
This commit is contained in:
Randy Mackay 2020-08-17 11:08:42 +09:00
parent c93313107b
commit 00757fb77f
2 changed files with 4 additions and 4 deletions
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2
libraries/SRV_Channel/SRV_Channel.cpp
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@ -171,7 +171,7 @@ float SRV_Channel::get_output_norm(void)
ret = 0; ret = 0;
} }
if (get_reversed()) { if (get_reversed()) {
ret = -ret; ret = -ret;
} }
return ret; return ret;
} }

6
libraries/SRV_Channel/SRV_Channel.h
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@ -277,7 +277,7 @@ private:
// return PWM for a given limit value // return PWM for a given limit value
uint16_t get_limit_pwm(Limit limit) const; uint16_t get_limit_pwm(Limit limit) const;
// get normalised output from -1 to 1 // get normalised output from -1 to 1, assuming 0 at mid point of servo_min/servo_max
float get_output_norm(void); float get_output_norm(void);
// a bitmask type wide enough for NUM_SERVO_CHANNELS // a bitmask type wide enough for NUM_SERVO_CHANNELS
@ -337,8 +337,8 @@ public:
// get pwm output for the first channel of the given function type. // get pwm output for the first channel of the given function type.
static bool get_output_pwm(SRV_Channel::Aux_servo_function_t function, uint16_t &value); static bool get_output_pwm(SRV_Channel::Aux_servo_function_t function, uint16_t &value);
// get normalised output (-1 to 1 for angle, 0 to 1 for range). Value is taken from pwm value // get normalised output (-1 to 1 with 0 at mid point of servo_min/servo_max)
// return zero on error. // Value is taken from pwm value. Returns zero on error.
static float get_output_norm(SRV_Channel::Aux_servo_function_t function); static float get_output_norm(SRV_Channel::Aux_servo_function_t function);
// get output channel mask for a function // get output channel mask for a function