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AP_Mount: use norm_input_dz()

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this makes rc targeting much easier without drift
This commit is contained in:
Andrew Tridgell 2014-11-18 12:44:29 +11:00
parent 6b0c15b70f
commit 14467b75a1
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Mount/AP_Mount.cpp
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@ -384,17 +384,17 @@ void AP_Mount::update_mount_position()
if (_joystick_speed) { // for spring loaded joysticks if (_joystick_speed) { // for spring loaded joysticks
// allow pilot speed position input to come directly from an RC_Channel // allow pilot speed position input to come directly from an RC_Channel
if (_roll_rc_in && rc_ch(_roll_rc_in)) { if (_roll_rc_in && rc_ch(_roll_rc_in)) {
_roll_control_angle += rc_ch(_roll_rc_in)->norm_input() * 0.0001f * _joystick_speed; _roll_control_angle += rc_ch(_roll_rc_in)->norm_input_dz() * 0.0001f * _joystick_speed;
if (_roll_control_angle < radians(_roll_angle_min*0.01f)) _roll_control_angle = radians(_roll_angle_min*0.01f); if (_roll_control_angle < radians(_roll_angle_min*0.01f)) _roll_control_angle = radians(_roll_angle_min*0.01f);
if (_roll_control_angle > radians(_roll_angle_max*0.01f)) _roll_control_angle = radians(_roll_angle_max*0.01f); if (_roll_control_angle > radians(_roll_angle_max*0.01f)) _roll_control_angle = radians(_roll_angle_max*0.01f);
} }
if (_tilt_rc_in && (rc_ch(_tilt_rc_in))) { if (_tilt_rc_in && (rc_ch(_tilt_rc_in))) {
_tilt_control_angle += rc_ch(_tilt_rc_in)->norm_input() * 0.0001f * _joystick_speed; _tilt_control_angle += rc_ch(_tilt_rc_in)->norm_input_dz() * 0.0001f * _joystick_speed;
if (_tilt_control_angle < radians(_tilt_angle_min*0.01f)) _tilt_control_angle = radians(_tilt_angle_min*0.01f); if (_tilt_control_angle < radians(_tilt_angle_min*0.01f)) _tilt_control_angle = radians(_tilt_angle_min*0.01f);
if (_tilt_control_angle > radians(_tilt_angle_max*0.01f)) _tilt_control_angle = radians(_tilt_angle_max*0.01f); if (_tilt_control_angle > radians(_tilt_angle_max*0.01f)) _tilt_control_angle = radians(_tilt_angle_max*0.01f);
} }
if (_pan_rc_in && (rc_ch(_pan_rc_in))) { if (_pan_rc_in && (rc_ch(_pan_rc_in))) {
_pan_control_angle += rc_ch(_pan_rc_in)->norm_input() * 0.0001f * _joystick_speed; _pan_control_angle += rc_ch(_pan_rc_in)->norm_input_dz() * 0.0001f * _joystick_speed;
if (_pan_control_angle < radians(_pan_angle_min*0.01f)) _pan_control_angle = radians(_pan_angle_min*0.01f); if (_pan_control_angle < radians(_pan_angle_min*0.01f)) _pan_control_angle = radians(_pan_angle_min*0.01f);
if (_pan_control_angle > radians(_pan_angle_max*0.01f)) _pan_control_angle = radians(_pan_angle_max*0.01f); if (_pan_control_angle > radians(_pan_angle_max*0.01f)) _pan_control_angle = radians(_pan_angle_max*0.01f);
} }