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SRV_Channel: modified set_output_pwm_trimmed for reverse property 

Modified function to account for servo reverse property
This commit is contained in:
bnsgeyer 2018-07-11 13:19:39 -04:00 committed by Andrew Tridgell
parent e94177e469
commit 73df3e0af2
1 changed files with 7 additions and 1 deletions
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8
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -201,6 +201,7 @@ void SRV_Channels::set_output_pwm(SRV_Channel::Aux_servo_function_t function, ui
/*
set radio_out for all channels matching the given function type
trim the output assuming a 1500 center on the given value
reverses pwm output based on channel reversed property
*/
void
SRV_Channels::set_output_pwm_trimmed(SRV_Channel::Aux_servo_function_t function, int16_t value)
@ -210,7 +211,12 @@ SRV_Channels::set_output_pwm_trimmed(SRV_Channel::Aux_servo_function_t function,
}
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
if (channels[i].function.get() == function) {
int16_t value2 = value - 1500 + channels[i].get_trim();
int16_t value2;
if (channels[i].get_reversed()) {
value2 = 1500 - value + channels[i].get_trim();
} else {
value2 = value - 1500 + channels[i].get_trim();
}
channels[i].set_output_pwm(constrain_int16(value2,channels[i].get_output_min(),channels[i].get_output_max()));
channels[i].output_ch();
}