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HAL_PX4: implement get_esc_scaling()

This commit is contained in:
Andrew Tridgell 2018-04-02 17:57:54 +10:00
parent 8e59f6aad6
commit 503bd9ce65
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_HAL_PX4/RCOutput.h
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@ -29,6 +29,11 @@ public:
_esc_pwm_min = min_pwm;
_esc_pwm_max = max_pwm;
}
bool get_esc_scaling(uint16_t &min_pwm, uint16_t &max_pwm) override {
min_pwm = _esc_pwm_min;
max_pwm = _esc_pwm_max;
return true;
}
float scale_esc_to_unity(uint16_t pwm) override {
return 2.0 * ((float) pwm - _esc_pwm_min) / (_esc_pwm_max - _esc_pwm_min) - 1.0;
}