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SRV_Channel: fixed output slew rate handling

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this fixes a bug that happens when the RC output speed is much lower
than the main loop speed, such as with forward throttle for
quadplanes. We need to base the slew on the last sent output, not the
last value read back (at 50Hz) from the IO board, or we will slew the
channel at 6x to 8x slower than the correct rate.
This commit is contained in:
Andrew Tridgell 2017-02-20 19:45:04 +11:00
parent 3ce7e4b322
commit 29b06d2d4a
1 changed files with 1 additions and 1 deletions
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2
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -558,7 +558,7 @@ void SRV_Channels::limit_slew_rate(SRV_Channel::Aux_servo_function_t function, f
SRV_Channel &ch = channels[i];
if (ch.function == function) {
ch.calc_pwm(functions[function].output_scaled);
uint16_t last_pwm = hal.rcout->read(ch.ch_num);
uint16_t last_pwm = hal.rcout->read_last_sent(ch.ch_num);
if (last_pwm == ch.output_pwm) {
continue;
}