Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Mount: fixed scaling of the joystick speed to give better control

Browse Source 
thanks to Chris Miser for reporting this problem
This commit is contained in:
Andrew Tridgell 2013-03-08 14:39:32 +11:00
parent 2294de85ac
commit 26fedc543c
1 changed files with 5 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_Mount/AP_Mount.cpp
View File

@ -206,8 +206,8 @@ const AP_Param::GroupInfo AP_Mount::var_info[] PROGMEM = {
#if MNT_JSTICK_SPD_OPTION == ENABLED
// @Param: JSTICK_SPD
// @DisplayName: mount joystick speed
// @Description: 0 for position control, small for low speeds, 10 for max speed
// @Range: 0 10
// @Description: 0 for position control, small for low speeds, 100 for max speed. A good general value is 10 which gives a movement speed of 3 degrees per second.
// @Range: 0 100
// @Increment: 1
// @User: Standard
AP_GROUPINFO("JSTICK_SPD", 16, AP_Mount, _joystick_speed, 0),
@ -345,20 +345,17 @@ void AP_Mount::update_mount_position()
if (_joystick_speed) { // for spring loaded joysticks
// allow pilot speed position input to come directly from an RC_Channel
if (_roll_rc_in && (rc_ch[_roll_rc_in-1])) {
//_roll_control_angle += angle_input(rc_ch[_roll_rc_in-1], _roll_angle_min, _roll_angle_max) * 0.00001 * _joystick_speed;
_roll_control_angle += rc_ch[_roll_rc_in-1]->norm_input() * 0.00001f * _joystick_speed;
_roll_control_angle += rc_ch[_roll_rc_in-1]->norm_input() * 0.0001f * _joystick_speed;
if (_roll_control_angle < radians(_roll_angle_min*0.01f)) _roll_control_angle = radians(_roll_angle_min*0.01f);
if (_roll_control_angle > radians(_roll_angle_max*0.01f)) _roll_control_angle = radians(_roll_angle_max*0.01f);
}
if (_tilt_rc_in && (rc_ch[_tilt_rc_in-1])) {
//_tilt_control_angle += angle_input(rc_ch[_tilt_rc_in-1], _tilt_angle_min, _tilt_angle_max) * 0.00001 * _joystick_speed;
_tilt_control_angle += rc_ch[_tilt_rc_in-1]->norm_input() * 0.00001f * _joystick_speed;
_tilt_control_angle += rc_ch[_tilt_rc_in-1]->norm_input() * 0.0001f * _joystick_speed;
if (_tilt_control_angle < radians(_tilt_angle_min*0.01f)) _tilt_control_angle = radians(_tilt_angle_min*0.01f);
if (_tilt_control_angle > radians(_tilt_angle_max*0.01f)) _tilt_control_angle = radians(_tilt_angle_max*0.01f);
}
if (_pan_rc_in && (rc_ch[_pan_rc_in-1])) {
//_pan_control_angle += angle_input(rc_ch[_pan_rc_in-1], _pan_angle_min, _pan_angle_max) * 0.00001 * _joystick_speed;
_pan_control_angle += rc_ch[_pan_rc_in-1]->norm_input() * 0.00001f * _joystick_speed;
_pan_control_angle += rc_ch[_pan_rc_in-1]->norm_input() * 0.0001f * _joystick_speed;
if (_pan_control_angle < radians(_pan_angle_min*0.01f)) _pan_control_angle = radians(_pan_angle_min*0.01f);
if (_pan_control_angle > radians(_pan_angle_max*0.01f)) _pan_control_angle = radians(_pan_angle_max*0.01f);
}