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SRV_Channel: fix scaled passthrough of ranges

This commit is contained in:
Randy Mackay 2023-11-13 20:13:05 +09:00 committed by Andrew Tridgell
parent 901280902a
commit 265f19b396
1 changed files with 9 additions and 1 deletions
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8
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -60,7 +60,15 @@ void SRV_Channel::output_ch(void)
int16_t radio_in = c->get_radio_in();
if (passthrough_mapped) {
if (rc().has_valid_input()) {
switch (c->get_type()) {
case RC_Channel::ControlType::ANGLE:
radio_in = pwm_from_angle(c->norm_input_dz() * 4500);
break;
case RC_Channel::ControlType::RANGE:
// convert RC normalised input from -1 to +1 range to 0 to +1 and output as range
radio_in = pwm_from_range((c->norm_input_ignore_trim() + 1.0) * 0.5 * 4500);
break;
}
} else {
// no valid input. If we are in radio
// failsafe then go to trim values (if