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RC_Channel: fixed bug in manual with TRIM == MIN 

This fixes the bug described here:

https://discuss.ardupilot.org/t/arduplane-reverse-thrust-setup/18324/5

which otherwise would prevent output with TRIM == MIN or TRIM == MAX
This commit is contained in:
Andrew Tridgell 2017-08-24 09:43:41 +10:00
parent 2be28ddb1e
commit 0155434057
1 changed files with 2 additions and 6 deletions
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8
libraries/RC_Channel/RC_Channel.cpp
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@ -187,14 +187,10 @@ RC_Channel::pwm_to_angle_dz_trim(uint16_t _dead_zone, uint16_t _trim)
int16_t radio_trim_high = _trim + _dead_zone; int16_t radio_trim_high = _trim + _dead_zone;
int16_t radio_trim_low = _trim - _dead_zone; int16_t radio_trim_low = _trim - _dead_zone;
// prevent div by 0
if ((radio_trim_low - radio_min) == 0 || (radio_max - radio_trim_high) == 0)
return 0;
int16_t reverse_mul = (reversed?-1:1); int16_t reverse_mul = (reversed?-1:1);
if (radio_in > radio_trim_high) { if (radio_in > radio_trim_high && radio_max != radio_trim_high) {
return reverse_mul * ((int32_t)high_in * (int32_t)(radio_in - radio_trim_high)) / (int32_t)(radio_max - radio_trim_high); return reverse_mul * ((int32_t)high_in * (int32_t)(radio_in - radio_trim_high)) / (int32_t)(radio_max - radio_trim_high);
} else if (radio_in < radio_trim_low) { } else if (radio_in < radio_trim_low && radio_trim_low != radio_min) {
return reverse_mul * ((int32_t)high_in * (int32_t)(radio_in - radio_trim_low)) / (int32_t)(radio_trim_low - radio_min); return reverse_mul * ((int32_t)high_in * (int32_t)(radio_in - radio_trim_low)) / (int32_t)(radio_trim_low - radio_min);
} else { } else {
return 0; return 0;