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RC_Channel: add norm_input_ignore_trim

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same as norm_input but ignores the trim value
This commit is contained in:
Randy Mackay 2020-02-22 12:22:13 +09:00 committed by Andrew Tridgell
parent 7750c5573e
commit 60238ec040
2 changed files with 16 additions and 0 deletions
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12
libraries/RC_Channel/RC_Channel.cpp
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@ -305,6 +305,18 @@ RC_Channel::norm_input_dz() const
return constrain_float(ret, -1.0f, 1.0f); return constrain_float(ret, -1.0f, 1.0f);
} }
// return a normalised input for a channel, in range -1 to 1,
// ignores trim and deadzone
float RC_Channel::norm_input_ignore_trim() const
{
// sanity check min and max to avoid divide by zero
if (radio_max <= radio_min) {
return 0.0f;
}
const float ret = (reversed ? -2.0f : 2.0f) * (((float)(radio_in - radio_min) / (float)(radio_max - radio_min)) - 0.5f);
return constrain_float(ret, -1.0f, 1.0f);
}
/* /*
get percentage input from 0 to 100. This ignores the trim value. get percentage input from 0 to 100. This ignores the trim value.
*/ */

4
libraries/RC_Channel/RC_Channel.h
View File

@ -52,6 +52,10 @@ public:
*/ */
float norm_input_dz() const; float norm_input_dz() const;
// return a normalised input for a channel, in range -1 to 1,
// ignores trim and deadzone
float norm_input_ignore_trim() const;
uint8_t percent_input() const; uint8_t percent_input() const;
int16_t pwm_to_range() const; int16_t pwm_to_range() const;
int16_t pwm_to_range_dz(uint16_t dead_zone) const; int16_t pwm_to_range_dz(uint16_t dead_zone) const;