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RC_Channel: use float for stick mixing

This commit is contained in:
Iampete1 2021-09-18 18:55:21 +01:00 committed by Andrew Tridgell
parent b84633630a
commit 14b9e99020
2 changed files with 3 additions and 3 deletions
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4
libraries/RC_Channel/RC_Channel.cpp
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@ -369,14 +369,14 @@ bool RC_Channel::has_override() const
controller as it increases the influence of the users stick input, controller as it increases the influence of the users stick input,
allowing the user full deflection if needed allowing the user full deflection if needed
*/ */
int16_t RC_Channel::stick_mixing(const int16_t servo_in) float RC_Channel::stick_mixing(const float servo_in)
{ {
float ch_inf = (float)(radio_in - radio_trim); float ch_inf = (float)(radio_in - radio_trim);
ch_inf = fabsf(ch_inf); ch_inf = fabsf(ch_inf);
ch_inf = MIN(ch_inf, 400.0f); ch_inf = MIN(ch_inf, 400.0f);
ch_inf = ((400.0f - ch_inf) / 400.0f); ch_inf = ((400.0f - ch_inf) / 400.0f);
int16_t servo_out = servo_in; float servo_out = servo_in;
servo_out *= ch_inf; servo_out *= ch_inf;
servo_out += control_in; servo_out += control_in;

2
libraries/RC_Channel/RC_Channel.h
View File

@ -71,7 +71,7 @@ public:
void set_override(const uint16_t v, const uint32_t timestamp_ms); void set_override(const uint16_t v, const uint32_t timestamp_ms);
bool has_override() const; bool has_override() const;
int16_t stick_mixing(const int16_t servo_in); float stick_mixing(const float servo_in);
// get control input with zero deadzone // get control input with zero deadzone
int16_t get_control_in_zero_dz(void) const; int16_t get_control_in_zero_dz(void) const;