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RC_Channel: added norm_input_dz()

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normalised input, taking into account dead zone
This commit is contained in:
Andrew Tridgell 2014-11-18 12:44:05 +11:00
parent ad0e6dccbb
commit 6b0c15b70f
2 changed files with 28 additions and 0 deletions
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16
libraries/RC_Channel/RC_Channel.cpp
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@ -359,6 +359,22 @@ RC_Channel::norm_input()
return constrain_float(ret, -1.0f, 1.0f);
}
float
RC_Channel::norm_input_dz()
{
int16_t dz_min = radio_trim - _dead_zone;
int16_t dz_max = radio_trim + _dead_zone;
float ret;
if (radio_in < dz_min && dz_min > radio_min) {
ret = _reverse * (float)(radio_in - dz_min) / (float)(dz_min - radio_min);
} else if (radio_in > dz_max && radio_max > dz_max) {
ret = _reverse * (float)(radio_in - dz_max) / (float)(radio_max - dz_max);
} else {
ret = 0;
}
return constrain_float(ret, -1.0f, 1.0f);
}
/*
get percentage input from 0 to 100. This ignores the trim value.
*/

12
libraries/RC_Channel/RC_Channel.h
View File

@ -102,7 +102,19 @@ public:
int16_t pwm_to_angle_dz(uint16_t dead_zone);
int16_t pwm_to_angle();
/*
return a normalised input for a channel, in range -1 to 1,
centered around the channel trim. Ignore deadzone.
*/
float norm_input();
/*
return a normalised input for a channel, in range -1 to 1,
centered around the channel trim. Take into account the deadzone
*/
float norm_input_dz();
uint8_t percent_input();
float norm_output();
int16_t angle_to_pwm();