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AP_Mount: update_rate_and_angle_from_rc fix arg name to match units

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This commit is contained in:
Randy Mackay 2022-06-17 15:07:14 +09:00
parent 23209ddafd
commit 3711c362ce
2 changed files with 5 additions and 3 deletions
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5
libraries/AP_Mount/AP_Mount_Backend.cpp
View File

@ -119,14 +119,15 @@ bool AP_Mount_Backend::handle_global_position_int(uint8_t msg_sysid, const mavli
// update rate and angle targets from RC input
// current angle target (in radians) should be provided in angle_rad target
// rate and angle targets are returned in rate_rads and angle_rad arguments
void AP_Mount_Backend::update_rate_and_angle_from_rc(const RC_Channel *chan, float &rate_rads, float &angle_rad, float angle_min_rad, float angle_max_rad) const
// angle min and max are in centi-degrees
void AP_Mount_Backend::update_rate_and_angle_from_rc(const RC_Channel *chan, float &rate_rads, float &angle_rad, float angle_min_cd, float angle_max_cd) const
{
if ((chan == nullptr) || (chan->get_radio_in() == 0)) {
rate_rads = 0;
return;
}
rate_rads = chan->norm_input_dz() * radians(_frontend._rc_rate_max);
angle_rad = constrain_float(angle_rad + (rate_rads * AP_MOUNT_UPDATE_DT), radians(angle_min_rad*0.01f), radians(angle_max_rad*0.01f));
angle_rad = constrain_float(angle_rad + (rate_rads * AP_MOUNT_UPDATE_DT), radians(angle_min_cd*0.01f), radians(angle_max_cd*0.01f));
}
// update_targets_from_rc - updates angle targets using input from receiver

3
libraries/AP_Mount/AP_Mount_Backend.h
View File

@ -135,7 +135,8 @@ private:
// update rate and angle targets from RC input
// current angle target (in radians) should be provided in angle_rad target
// rate and angle targets are returned in rate_rads and angle_rad arguments
void update_rate_and_angle_from_rc(const RC_Channel *chan, float &rate_rads, float &angle_rad, float angle_min_rad, float angle_max_rad) const;
// angle min and max are in centi-degrees
void update_rate_and_angle_from_rc(const RC_Channel *chan, float &rate_rads, float &angle_rad, float angle_min_cd, float angle_max_cd) const;
};
#endif // HAL_MOUNT_ENABLED