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Plane: fix calculation of override PWM

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This commit is contained in:
Michael du Breuil 2016-05-22 17:00:04 -07:00 committed by Tom Pittenger
parent 8fc494cfcd
commit 037a7980d6
1 changed files with 5 additions and 5 deletions
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10
ArduPlane/px4_mixer.cpp
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@ -334,14 +334,14 @@ bool Plane::setup_failsafe_mixing(void)
/*
This is an OVERRIDE_CHAN channel. We want IO to trigger
override with a channel input of over 1750. The px4io
code is setup for triggering below 10% of full range. To
map this to values above 1750 we need to reverse the
direction and set the rc range for this channel to 1000
to 1833 (1833 = 1000 + 750/0.9)
code is setup for triggering below 80% of the range below
trim. To map this to values above 1750 we need to reverse
the direction and set the rc range for this channel to 1000
to 1813 (1812.5 = 1500 + 250/0.8)
*/
config.rc_assignment = PX4IO_P_RC_CONFIG_ASSIGNMENT_MODESWITCH;
config.rc_reverse = true;
config.rc_max = 1833;
config.rc_max = 1813; // round 1812.5 up to grant > 1750
config.rc_min = 1000;
config.rc_trim = 1500;
} else {