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SRV_Channel: fixed reversing on servo gimbals

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Andrew Tridgell 2017-03-23 11:50:19 +11:00 committed by Randy Mackay
parent 353202e03c
commit 2d603c1cba
1 changed files with 2 additions and 1 deletions
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3
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -344,7 +344,8 @@ SRV_Channels::move_servo(SRV_Channel::Aux_servo_function_t function,
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) { for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
SRV_Channel &ch = channels[i]; SRV_Channel &ch = channels[i];
if (ch.function.get() == function) { if (ch.function.get() == function) {
uint16_t pwm = ch.servo_min + v * (ch.servo_max - ch.servo_min); float v2 = ch.get_reversed()? (1-v) : v;
uint16_t pwm = ch.servo_min + v2 * (ch.servo_max - ch.servo_min);
ch.set_output_pwm(pwm); ch.set_output_pwm(pwm);
} }
} }