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AP_Motors: add calc_pwm_output_1to1 and 0to1

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Convenience functions to convert from -1 to +1 input to pwm output
This commit is contained in:
Randy Mackay 2016-02-02 21:22:53 +09:00
parent be7ad2d83a
commit 61cf8e1698
2 changed files with 42 additions and 0 deletions
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36
libraries/AP_Motors/AP_Motors_Class.cpp
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@ -109,3 +109,39 @@ uint32_t AP_Motors::rc_map_mask(uint32_t mask) const
} }
return mask2; return mask2;
} }
// convert input in -1 to +1 range to pwm output
int16_t AP_Motors::calc_pwm_output_1to1(float input, const RC_Channel& servo)
{
int16_t ret;
input = constrain_float(input, -1.0f, 1.0f);
if (servo.get_reverse()) {
input = -input;
}
if (input >= 0.0f) {
ret = ((input * (servo.radio_max - servo.radio_trim)) + servo.radio_trim);
} else {
ret = ((input * (servo.radio_trim - servo.radio_min)) + servo.radio_trim);
}
return constrain_int16(ret, servo.radio_min, servo.radio_max);
}
// convert input in 0 to +1 range to pwm output
int16_t AP_Motors::calc_pwm_output_0to1(float input, const RC_Channel& servo)
{
int16_t ret;
input = constrain_float(input, 0.0f, 1.0f);
if (servo.get_reverse()) {
input = 1.0f-input;
}
ret = input * (servo.radio_max - servo.radio_min) + servo.radio_min;
return constrain_int16(ret, servo.radio_min, servo.radio_max);
}

6
libraries/AP_Motors/AP_Motors_Class.h
View File

@ -143,6 +143,12 @@ protected:
// update the throttle input filter // update the throttle input filter
virtual void update_throttle_filter() = 0; virtual void update_throttle_filter() = 0;
// convert input in -1 to +1 range to pwm output
int16_t calc_pwm_output_1to1(float input, const RC_Channel& servo);
// convert input in 0 to +1 range to pwm output
int16_t calc_pwm_output_0to1(float input, const RC_Channel& servo);
// flag bitmask // flag bitmask
struct AP_Motors_flags { struct AP_Motors_flags {
uint8_t armed : 1; // 0 if disarmed, 1 if armed uint8_t armed : 1; // 0 if disarmed, 1 if armed