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change rc norm_output to scale evenly across the entire range

This commit is contained in:
Michael Oborne 2012-01-20 16:24:55 +08:00
parent 9ca6668c1b
commit 6b949511ca
2 changed files with 5 additions and 3 deletions
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2
ArduPlane/GCS_Mavlink.pde
View File

@ -420,7 +420,7 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
(float)airspeed / 100.0,
(float)g_gps->ground_speed / 100.0,
(dcm.yaw_sensor / 100) % 360,
(uint16_t)(100 * g.channel_throttle.norm_output()),
(uint16_t)(100 * (g.channel_throttle.norm_output() / 2.0 + 0.5)), // scale -1,1 to 0-100
current_loc.alt / 100.0,
0);
}

6
libraries/RC_Channel/RC_Channel.cpp
View File

@ -248,10 +248,12 @@ RC_Channel::norm_input()
float
RC_Channel::norm_output()
{
uint16_t mid = (radio_max + radio_min) / 2;
if(radio_out < radio_trim)
return (float)(radio_out - radio_trim) / (float)(radio_trim - radio_min);
return (float)(radio_out - mid) / (float)(mid - radio_min);
else
return (float)(radio_out - radio_trim) / (float)(radio_max - radio_trim);
return (float)(radio_out - mid) / (float)(radio_max - mid);
}
void RC_Channel::set_apm_rc( APM_RC_Class * apm_rc )