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SRV_Channel: pwm_from_angle: return trim for 0 high_out

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Iampete1 2022-10-20 17:01:58 +01:00 committed by Andrew Tridgell
parent 623501d0d5
commit 5382083452
1 changed files with 3 additions and 0 deletions
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3
libraries/SRV_Channel/SRV_Channel.cpp
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@ -99,6 +99,9 @@ uint16_t SRV_Channel::pwm_from_range(float scaled_value) const
// convert a -angle_max..angle_max to a pwm
uint16_t SRV_Channel::pwm_from_angle(float scaled_value) const
{
if (high_out == 0) {
return servo_trim;
}
if (reversed) {
scaled_value = -scaled_value;
}