Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

removed scaling on control in because it might cause rounding issues. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2969 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-07-30 23:48:38 +00:00
parent 4339ebb310
commit 150f58a4bd
1 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/RC_Channel/RC_Channel.cpp
View File

@ -89,15 +89,15 @@ RC_Channel::set_pwm(int pwm)
//Serial.print("range "); //Serial.print("range ");
control_in = pwm_to_range(); control_in = pwm_to_range();
control_in = (control_in < dead_zone) ? 0 : control_in; control_in = (control_in < dead_zone) ? 0 : control_in;
if (fabs(scale_output) > 0){ //if (fabs(scale_output) > 0){
control_in *= scale_output; // control_in *= scale_output;
} //}
}else{ }else{
control_in = pwm_to_angle(); control_in = pwm_to_angle();
control_in = (abs(control_in) < dead_zone) ? 0 : control_in; control_in = (abs(control_in) < dead_zone) ? 0 : control_in;
if (fabs(scale_output) > 0){ //if (fabs(scale_output) > 0){
control_in *= scale_output; // control_in *= scale_output;
} //}
} }
} }