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RC_Channel: added pwm_to_angle_dz() function

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will be used by k_aileron in APM
This commit is contained in:
Andrew Tridgell 2012-11-05 23:37:25 +11:00
parent df96832900
commit 3a1f85a4b0
2 changed files with 18 additions and 5 deletions
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22
libraries/RC_Channel/RC_Channel.cpp
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@ -217,13 +217,15 @@ RC_Channel::update_min_max()
radio_max = max(radio_max.get(), radio_in); radio_max = max(radio_max.get(), radio_in);
} }
// ------------------------------------------ /*
return an "angle in centidegrees" (normally -4500 to 4500) from
the current radio_in value using the specified dead_zone
*/
int16_t int16_t
RC_Channel::pwm_to_angle() RC_Channel::pwm_to_angle_dz(int16_t dead_zone)
{ {
int16_t radio_trim_high = radio_trim + _dead_zone; int16_t radio_trim_high = radio_trim + dead_zone;
int16_t 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)
@ -237,6 +239,16 @@ RC_Channel::pwm_to_angle()
return 0; return 0;
} }
/*
return an "angle in centidegrees" (normally -4500 to 4500) from
the current radio_in value
*/
int16_t
RC_Channel::pwm_to_angle()
{
return pwm_to_angle_dz(_dead_zone);
}
int16_t int16_t
RC_Channel::angle_to_pwm() RC_Channel::angle_to_pwm()

1
libraries/RC_Channel/RC_Channel.h
View File

@ -78,6 +78,7 @@ public:
// includes offset from PWM // includes offset from PWM
//int16_t get_radio_out(void); //int16_t get_radio_out(void);
int16_t pwm_to_angle_dz(int16_t dead_zone);
int16_t pwm_to_angle(); int16_t pwm_to_angle();
float norm_input(); float norm_input();
float norm_output(); float norm_output();