mirror of https://github.com/ArduPilot/ardupilot
Use AP_Var to store channel calibration.
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1651 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com
parent
86fda84749
commit
1dd50ec263
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@ -1,7 +1,7 @@
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/*
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RC_Channel.cpp - Radio library for Arduino
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Code by Jason Short. DIYDrones.com
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This library is free software; you can redistribute it and / or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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@ -18,7 +18,7 @@
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#define RANGE 1
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// setup the control preferences
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void
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void
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RC_Channel::set_range(int low, int high)
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{
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_type = RANGE;
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@ -74,19 +74,19 @@ RC_Channel::set_pwm(int pwm)
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}else{
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radio_in = pwm;
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}
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if(_type == RANGE){
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//Serial.print("range ");
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control_in = pwm_to_range();
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control_in = (control_in < dead_zone) ? 0 : control_in;
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if(scale_output){
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if (fabs(scale_output) > 0){
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control_in *= scale_output;
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}
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}else{
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control_in = pwm_to_angle();
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control_in = (abs(control_in) < dead_zone) ? 0 : control_in;
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if(scale_output){
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if (fabs(scale_output) > 0){
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control_in *= scale_output;
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}
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}
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@ -117,7 +117,7 @@ RC_Channel::calc_pwm(void)
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pwm_out = angle_to_pwm();
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radio_out = pwm_out + radio_trim;
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}
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radio_out = constrain(radio_out,radio_min, radio_max);
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radio_out = constrain(radio_out, radio_min.get(), radio_max.get());
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}
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// ------------------------------------------
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@ -125,32 +125,21 @@ RC_Channel::calc_pwm(void)
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void
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RC_Channel::load_eeprom(void)
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{
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radio_min = eeprom_read_word((uint16_t *) _address);
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radio_max = eeprom_read_word((uint16_t *) (_address + 2));
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radio_trim = eeprom_read_word((uint16_t *) (_address + 4));
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//radio_min = _ee.read_int(_address);
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//radio_max = _ee.read_int(_address + 2);
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//radio_trim = _ee.read_int(_address + 4);
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_group.load();
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}
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void
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RC_Channel::save_eeprom(void)
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{
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eeprom_write_word((uint16_t *) _address, radio_min);
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eeprom_write_word((uint16_t *) (_address + 2), radio_max);
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eeprom_write_word((uint16_t *) (_address + 4), radio_trim);
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//_ee.write_int(_address, radio_min);
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//_ee.write_int((_address + 2), radio_max);
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//_ee.write_int((_address + 4), radio_trim);
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_group.save();
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}
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// ------------------------------------------
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//XXX is this still in use?
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void
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RC_Channel::save_trim(void)
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{
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eeprom_write_word((uint16_t *) (_address + 4), radio_trim);
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//_ee.write_int((_address + 4), radio_trim);
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_group.save();
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}
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// ------------------------------------------
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@ -158,14 +147,14 @@ RC_Channel::save_trim(void)
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void
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RC_Channel::zero_min_max()
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{
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radio_min = radio_min = radio_in;
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radio_min = radio_max = radio_in;
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}
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void
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RC_Channel::update_min_max()
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{
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radio_min = min(radio_min, radio_in);
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radio_max = max(radio_max, radio_in);
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radio_min = min(radio_min.get(), radio_in);
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radio_max = max(radio_max.get(), radio_in);
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}
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// ------------------------------------------
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@ -177,7 +166,7 @@ RC_Channel::pwm_to_angle()
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return _reverse * ((long)_high * (long)(radio_in - radio_trim)) / (long)(radio_trim - radio_min);
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else
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return _reverse * ((long)_high * (long)(radio_in - radio_trim)) / (long)(radio_max - radio_trim);
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//return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_max - radio_trim));
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//return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_trim - radio_min));
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}
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@ -221,7 +210,7 @@ RC_Channel::range_to_pwm()
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// ------------------------------------------
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float
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float
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RC_Channel::norm_input()
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{
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if(radio_in < radio_trim)
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@ -230,7 +219,7 @@ RC_Channel::norm_input()
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return _reverse * (float)(radio_in - radio_trim) / (float)(radio_max - radio_trim);
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}
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float
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float
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RC_Channel::norm_output()
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{
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if(radio_out < radio_trim)
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@ -6,31 +6,23 @@
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#ifndef RC_Channel_h
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#define RC_Channel_h
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#include <AP_Common.h>
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#include <stdint.h>
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/// @class RC_Channel
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/// @brief Object managing one RC channel
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class RC_Channel{
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public:
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public:
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/// Constructor
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///
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/// A RC_Channel constructed in this fashion does not support save/restore.
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/// @param key EEPROM storage key for the channel trim parameters.
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/// @param name Optional name for the group.
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///
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RC_Channel() :
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_address(0),
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_reverse(1),
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dead_zone(0),
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scale_output(1.0)
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{}
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/// Constructor
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///
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/// @param address EEPROM base address at which RC_Channel parameters
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/// are stored. Zero if the RC_Channel does not support
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/// save/restore.
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///
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RC_Channel(uint16_t address) :
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_address(address),
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RC_Channel(AP_Var::Key key, const prog_char *name) :
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_group(key, name),
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radio_min (&_group, 0, 1500, name ? "MIN" : 0), // suppress name if group has no name
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radio_trim(&_group, 1, 1500, name ? "TRIM" : 0),
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radio_max (&_group, 2, 1500, name ? "MAX" : 0),
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_high(1),
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_filter(true),
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_reverse(1),
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@ -41,11 +33,11 @@ class RC_Channel{
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// setup min and max radio values in CLI
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void update_min_max();
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void zero_min_max();
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// startup
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void load_eeprom(void);
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void save_eeprom(void);
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void save_trim(void);
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void save_eeprom(void);
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void save_trim(void);
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void set_filter(bool filter);
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// setup the control preferences
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@ -56,22 +48,22 @@ class RC_Channel{
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// read input from APM_RC - create a control_in value
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void set_pwm(int pwm);
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// pwm is stored here
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int16_t radio_in;
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// call after first set_pwm
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void trim();
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// did our read come in 50µs below the min?
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bool get_failsafe(void);
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// value generated from PWM
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int16_t control_in;
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int16_t dead_zone; // used to keep noise down and create a dead zone.
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int control_mix(float value);
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// current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100
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int16_t servo_out;
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@ -82,10 +74,10 @@ class RC_Channel{
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int16_t pwm_out;
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int16_t radio_out;
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int16_t radio_min;
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int16_t radio_trim;
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int16_t radio_max;
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AP_Int16 radio_min;
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AP_Int16 radio_trim;
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AP_Int16 radio_max;
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// includes offset from PWM
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//int16_t get_radio_out(void);
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@ -97,18 +89,18 @@ class RC_Channel{
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int16_t range_to_pwm();
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float scale_output;
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private:
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AP_Var_group _group;
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bool _filter;
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int8_t _reverse;
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int16_t _address; ///< EEPROM address for save/restore of P/I/D
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bool _type;
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bool _type;
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int16_t _high;
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int16_t _low;
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};
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#endif
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#endif
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