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AP_Volz_Protocol scaling bugfix

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->Fixed incorrect scaling betwen PWM values and Volz protocol values
->In the scaling formula are hardcoded PWM values min=1000 and max=2000. The idea behind this is to be able to change Volz range, when you use SERVOn_MIN and SERVOn_MAX parameters.
This commit is contained in:
Boris Borisov 2020-09-28 10:20:15 +03:00 committed by Peter Barker
parent f62a27ca8a
commit 19f3fda31b
2 changed files with 6 additions and 3 deletions
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6
libraries/AP_Volz_Protocol/AP_Volz_Protocol.cpp
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@ -73,15 +73,15 @@ void AP_Volz_Protocol::update()
} }
// check if current channel PWM is within range // check if current channel PWM is within range
if (c->get_output_pwm() < c->get_output_min()) { if (c->get_output_pwm() < VOLZ_PWM_POSITION_MIN) {
value = 0; value = 0;
} else { } else {
value = c->get_output_pwm() - c->get_output_min(); value = c->get_output_pwm() - VOLZ_PWM_POSITION_MIN;
} }
// scale the PWM value to Volz value // scale the PWM value to Volz value
value = value * VOLZ_SCALE_VALUE / (VOLZ_PWM_POSITION_MAX - VOLZ_PWM_POSITION_MIN);
value = value + VOLZ_EXTENDED_POSITION_MIN; value = value + VOLZ_EXTENDED_POSITION_MIN;
value = value * VOLZ_SCALE_VALUE / (c->get_output_max() - c->get_output_min());
// make sure value stays in range // make sure value stays in range
if (value > VOLZ_EXTENDED_POSITION_MAX) { if (value > VOLZ_EXTENDED_POSITION_MAX) {

3
libraries/AP_Volz_Protocol/AP_Volz_Protocol.h
View File

@ -48,6 +48,9 @@
#define VOLZ_EXTENDED_POSITION_CENTER 0x0800 // Extended Position Data Format defines 0 as 0x0800 - decimal 2048 #define VOLZ_EXTENDED_POSITION_CENTER 0x0800 // Extended Position Data Format defines 0 as 0x0800 - decimal 2048
#define VOLZ_EXTENDED_POSITION_MAX 0x0F80 // Extended Position Data Format defines +100 as 0x0F80 decimal 3968 -> full range decimal 3840 #define VOLZ_EXTENDED_POSITION_MAX 0x0F80 // Extended Position Data Format defines +100 as 0x0F80 decimal 3968 -> full range decimal 3840
#define VOLZ_PWM_POSITION_MIN 1000
#define VOLZ_PWM_POSITION_MAX 2000
class AP_Volz_Protocol { class AP_Volz_Protocol {
public: public:
AP_Volz_Protocol(); AP_Volz_Protocol();