Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-25 10:08:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

RC_Channel library: change all "int" types to "int16_t".

Browse Source 
Fixes SITL compile error due to type mismatch of set_pwm between .h and .cpp file (this only occurs because on the SITL, "int" is actually "int32_t"
This commit is contained in:
rmackay9 2012-06-02 14:20:58 +09:00
parent 37e4637c13
commit 3246f2bad3
2 changed files with 15 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
libraries/RC_Channel/RC_Channel.cpp
View File

@ -35,7 +35,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
// setup the control preferences // setup the control preferences
void void
RC_Channel::set_range(int low, int high) RC_Channel::set_range(int16_t low, int16_t high)
{ {
_type = RC_CHANNEL_RANGE; _type = RC_CHANNEL_RANGE;
_high = high; _high = high;
@ -45,21 +45,21 @@ RC_Channel::set_range(int low, int high)
} }
void void
RC_Channel::set_range_out(int low, int high) RC_Channel::set_range_out(int16_t low, int16_t high)
{ {
_high_out = high; _high_out = high;
_low_out = low; _low_out = low;
} }
void void
RC_Channel::set_angle(int angle) RC_Channel::set_angle(int16_t angle)
{ {
_type = RC_CHANNEL_ANGLE; _type = RC_CHANNEL_ANGLE;
_high = angle; _high = angle;
} }
void void
RC_Channel::set_dead_zone(int dzone) RC_Channel::set_dead_zone(int16_t dzone)
{ {
_dead_zone.set_and_save(abs(dzone >>1)); _dead_zone.set_and_save(abs(dzone >>1));
} }
@ -138,12 +138,12 @@ RC_Channel::set_pwm(int16_t pwm)
if(expo) { if(expo) {
long temp = control_in; long temp = control_in;
temp = (temp * temp) / (long)_high; temp = (temp * temp) / (long)_high;
control_in = (int)((control_in >= 0) ? temp : -temp); control_in = (int16_t)((control_in >= 0) ? temp : -temp);
}*/ }*/
} }
} }
int int16_t
RC_Channel::control_mix(float value) RC_Channel::control_mix(float value)
{ {
return (1 - abs(control_in / _high)) * value + control_in; return (1 - abs(control_in / _high)) * value + control_in;
@ -218,8 +218,8 @@ RC_Channel::update_min_max()
int16_t int16_t
RC_Channel::pwm_to_angle() RC_Channel::pwm_to_angle()
{ {
int radio_trim_high = radio_trim + _dead_zone; int16_t radio_trim_high = radio_trim + _dead_zone;
int radio_trim_low = radio_trim - _dead_zone; int16_t radio_trim_low = radio_trim - _dead_zone;
// prevent div by 0 // prevent div by 0
if ((radio_trim_low - radio_min) == 0 || (radio_max - radio_trim_high) == 0) if ((radio_trim_low - radio_min) == 0 || (radio_max - radio_trim_high) == 0)
@ -250,7 +250,7 @@ RC_Channel::pwm_to_range()
{ {
int16_t r_in = constrain(radio_in, radio_min.get(), radio_max.get()); int16_t r_in = constrain(radio_in, radio_min.get(), radio_max.get());
int radio_trim_low = radio_min + _dead_zone; int16_t radio_trim_low = radio_min + _dead_zone;
if(r_in > radio_trim_low) if(r_in > radio_trim_low)
return (_low + ((long)(_high - _low) * (long)(r_in - radio_trim_low)) / (long)(radio_max - radio_trim_low)); return (_low + ((long)(_high - _low) * (long)(r_in - radio_trim_low)) / (long)(radio_max - radio_trim_low));

12
libraries/RC_Channel/RC_Channel.h
View File

@ -40,15 +40,15 @@ class RC_Channel{
void set_type(uint8_t t); void set_type(uint8_t t);
// setup the control preferences // setup the control preferences
void set_range(int low, int high); void set_range(int16_t low, int16_t high);
void set_range_out(int low, int high); void set_range_out(int16_t low, int16_t high);
void set_angle(int angle); void set_angle(int16_t angle);
void set_reverse(bool reverse); void set_reverse(bool reverse);
bool get_reverse(void); bool get_reverse(void);
void set_dead_zone(int dzone); void set_dead_zone(int16_t dzone);
// read input from APM_RC - create a control_in value // read input from APM_RC - create a control_in value
void set_pwm(int pwm); void set_pwm(int16_t pwm);
// pwm is stored here // pwm is stored here
int16_t radio_in; int16_t radio_in;
@ -62,7 +62,7 @@ class RC_Channel{
// value generated from PWM // value generated from PWM
int16_t control_in; int16_t control_in;
int control_mix(float value); int16_t control_mix(float value);
// current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100 // current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100
int16_t servo_out; int16_t servo_out;