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RC_Channel fix for throttle output.

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throttle was outputting incorrectly and allowing the user to max out the throttle leaving nothing for attitude control
This commit is contained in:
Jason Short 2012-05-31 14:59:03 -07:00
parent 7ee38df5a2
commit 477aa6e47a
3 changed files with 28 additions and 13 deletions
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5
ArduCopter/radio.pde
View File

@ -66,6 +66,11 @@ static void init_rc_out()
read_radio();
}
// we want the input to be scaled correctly
g.rc_3.set_range_out(0,1000);
// sanity check - prevent unconfigured radios from outputting
if(g.rc_3.radio_min >= 1300){
g.rc_3.radio_min = g.rc_3.radio_in;

33
libraries/RC_Channel/RC_Channel.cpp
View File

@ -37,9 +37,18 @@ const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
void
RC_Channel::set_range(int low, int high)
{
_type = RC_CHANNEL_RANGE;
_high = high;
_low = low;
_type = RC_CHANNEL_RANGE;
_high = high;
_low = low;
_high_out = high;
_low_out = low;
}
void
RC_Channel::set_range_out(int low, int high)
{
_high_out = high;
_low_out = low;
}
void
@ -79,8 +88,6 @@ void
RC_Channel::set_type(uint8_t t)
{
_type = t;
//Serial.print("type1: ");
//Serial.println(t,DEC);
}
// call after first read
@ -92,9 +99,8 @@ RC_Channel::trim()
// read input from APM_RC - create a control_in value
void
RC_Channel::set_pwm(int pwm)
RC_Channel::set_pwm(int16_t pwm)
{
//Serial.print(pwm,DEC);
/*if(_filter){
if(radio_in == 0)
@ -105,13 +111,12 @@ RC_Channel::set_pwm(int pwm)
radio_in = pwm;
}*/
radio_in = constrain(pwm, radio_min.get(), radio_max.get());
radio_in = pwm;
if(_type == RC_CHANNEL_RANGE){
//Serial.print("range ");
control_in = pwm_to_range();
//control_in = constrain(control_in, _low, _high);
control_in = min(control_in, _high);
//control_in = min(control_in, _high);
control_in = (control_in < _dead_zone) ? 0 : control_in;
if (fabs(scale_output) != 1){
@ -243,10 +248,12 @@ RC_Channel::angle_to_pwm()
int16_t
RC_Channel::pwm_to_range()
{
int16_t r_in = constrain(radio_in, radio_min.get(), radio_max.get());
int radio_trim_low = radio_min + _dead_zone;
if(radio_in > radio_trim_low)
return (_low + ((long)(_high - _low) * (long)(radio_in - radio_trim_low)) / (long)(radio_max - 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));
else if(_dead_zone > 0)
return 0;
else
@ -257,7 +264,7 @@ RC_Channel::pwm_to_range()
int16_t
RC_Channel::range_to_pwm()
{
return ((long)(servo_out - _low) * (long)(radio_max - radio_min)) / (long)(_high - _low);
return ((long)(servo_out - _low_out) * (long)(radio_max - radio_min)) / (long)(_high_out - _low_out);
}
// ------------------------------------------

3
libraries/RC_Channel/RC_Channel.h
View File

@ -41,6 +41,7 @@ class RC_Channel{
// setup the control preferences
void set_range(int low, int high);
void set_range_out(int low, int high);
void set_angle(int angle);
void set_reverse(bool reverse);
bool get_reverse(void);
@ -100,6 +101,8 @@ class RC_Channel{
uint8_t _type;
int16_t _high;
int16_t _low;
int16_t _high_out;
int16_t _low_out;
};
// This is ugly, but it fixes compilation on arduino