Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

SITL: add deadzones to Sub thrusters PWM signals

This commit is contained in:
Willian Galvani 2019-08-05 14:14:45 -03:00 committed by Jacob Walser
parent 1e2340fbb4
commit 394aff6535
1 changed files with 4 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/SITL/SIM_Submarine.cpp
View File

@ -76,7 +76,9 @@ void Submarine::calculate_forces(const struct sitl_input &input, Vector3f &rot_a
Thruster t = thrusters[i]; Thruster t = thrusters[i];
int16_t pwm = input.servos[t.servo]; int16_t pwm = input.servos[t.servo];
float output = 0; float output = 0;
if (pwm < 2000 && pwm > 1000) { // if valid pwm and not in the esc deadzone
// TODO: extract deadzone from parameters/vehicle code
if (pwm < 2000 && pwm > 1000 && (pwm < 1475 || pwm > 1525)) {
output = (pwm - 1500) / 400.0; // range -1~1 output = (pwm - 1500) / 400.0; // range -1~1
} }