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AP_MSP: Use scaled RC inputs instead of direct RC in. Also flip pitch to be correct.

This commit is contained in:
Michelle Rossouw 2024-02-23 01:41:01 +11:00 committed by Andrew Tridgell
parent d91147552b
commit 3ff790159f
1 changed files with 10 additions and 7 deletions
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17
libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
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@ -1061,8 +1061,12 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rc(sbuf_t *dst)
if (rcmap == nullptr) { if (rcmap == nullptr) {
return MSP_RESULT_ERROR; return MSP_RESULT_ERROR;
} }
uint16_t values[16] = {};
rc().get_radio_in(values, ARRAY_SIZE(values)); // note: rcmap channels start at 1
float roll = rc().rc_channel(rcmap->roll()-1)->norm_input_dz();
float pitch = -rc().rc_channel(rcmap->pitch()-1)->norm_input_dz();
float yaw = rc().rc_channel(rcmap->yaw()-1)->norm_input_dz();
float throttle = rc().rc_channel(rcmap->throttle()-1)->norm_input_dz();
const struct PACKED { const struct PACKED {
uint16_t a; uint16_t a;
@ -1071,11 +1075,10 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rc(sbuf_t *dst)
uint16_t t; uint16_t t;
} rc { } rc {
// send only 4 channels, MSP order is AERT // send only 4 channels, MSP order is AERT
// note: rcmap channels start at 1 a : uint16_t(roll*500+1500), // A
a : values[rcmap->roll()-1], // A e : uint16_t(pitch*500+1500), // E
e : values[rcmap->pitch()-1], // E r : uint16_t(yaw*500+1500), // R
r : values[rcmap->yaw()-1], // R t : uint16_t(throttle*1000+1000) // T
t : values[rcmap->throttle()-1] // T
}; };
sbuf_write_data(dst, &rc, sizeof(rc)); sbuf_write_data(dst, &rc, sizeof(rc));