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Fix manual values mapping

This commit is contained in:
Amilcar Lucas 2011-09-11 02:36:39 +02:00
parent a78de771d4
commit 5bf21d5159
1 changed files with 4 additions and 8 deletions
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12
libraries/AP_Mount/AP_Mount.cpp
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@ -124,31 +124,27 @@ void AP_Mount::update_mount()
yaw_angle=100*_roam_angles.z; yaw_angle=100*_roam_angles.z;
break; break;
} }
case k_none:
{
//do nothing
break;
}
case k_manual: // radio manual control case k_manual: // radio manual control
if (g_rc_function[RC_Channel_aux::k_mount_roll]) if (g_rc_function[RC_Channel_aux::k_mount_roll])
roll_angle = map(g_rc_function[RC_Channel_aux::k_mount_roll]->radio_in, roll_angle = map(g_rc_function[RC_Channel_aux::k_mount_roll]->radio_in,
g_rc_function[RC_Channel_aux::k_mount_roll]->radio_min, g_rc_function[RC_Channel_aux::k_mount_roll]->radio_min,
g_rc_function[RC_Channel_aux::k_mount_roll]->radio_max, g_rc_function[RC_Channel_aux::k_mount_roll]->radio_max,
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min, g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min,
g_rc_function[RC_Channel_aux::k_mount_roll]->radio_max); g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max);
if (g_rc_function[RC_Channel_aux::k_mount_pitch]) if (g_rc_function[RC_Channel_aux::k_mount_pitch])
pitch_angle = map(g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_in, pitch_angle = map(g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_in,
g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_min, g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_min,
g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_max, g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_max,
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min, g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min,
g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_max); g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_max);
if (g_rc_function[RC_Channel_aux::k_mount_yaw]) if (g_rc_function[RC_Channel_aux::k_mount_yaw])
yaw_angle = map(g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_in, yaw_angle = map(g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_in,
g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_min, g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_min,
g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_max, g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_max,
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_min, g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_min,
g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_max); g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_max);
break; break;
case k_none:
default: default:
{ {
//do nothing //do nothing