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SRV_Channel: expose public function to convert scaled value to pwm

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Allow other modules to get and store the PWM value for a specific scaled
value and re-apply it later.
This commit is contained in:
Thomas Watson 2023-10-11 15:30:10 -05:00 committed by Andrew Tridgell
parent 1ece48b2b3
commit 79b7852357
2 changed files with 14 additions and 10 deletions
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21
libraries/SRV_Channel/SRV_Channel.cpp
View File

@ -201,6 +201,15 @@ uint16_t SRV_Channel::pwm_from_angle(float scaled_value) const
}
}
uint16_t SRV_Channel::pwm_from_scaled_value(float scaled_value) const
{
if (type_angle) {
return pwm_from_angle(scaled_value);
} else {
return pwm_from_range(scaled_value);
}
}
void SRV_Channel::calc_pwm(float output_scaled)
{
if (have_pwm_mask & (1U<<ch_num)) {
@ -221,11 +230,7 @@ void SRV_Channel::calc_pwm(float output_scaled)
return;
}
if (type_angle) {
output_pwm = pwm_from_angle(output_scaled);
} else {
output_pwm = pwm_from_range(output_scaled);
}
output_pwm = pwm_from_scaled_value(output_scaled);
}
void SRV_Channel::set_output_pwm(uint16_t pwm, bool force)
@ -240,11 +245,7 @@ void SRV_Channel::set_output_pwm(uint16_t pwm, bool force)
void SRV_Channel::set_output_norm(float value)
{
// convert normalised value to pwm
if (type_angle) {
set_output_pwm(pwm_from_angle(value * high_out));
} else {
set_output_pwm(pwm_from_range(value * high_out));
}
set_output_pwm(pwm_from_scaled_value(value * high_out));
}
// set angular range of scaled output

3
libraries/SRV_Channel/SRV_Channel.h
View File

@ -280,6 +280,9 @@ public:
return function.configured();
}
// convert a scaled value (either range or angle depending on setup) to a pwm
uint16_t pwm_from_scaled_value(float scaled_value) const;
// specify that small rc input changes should be ignored during passthrough
// used by DO_SET_SERVO commands
void ignore_small_rcin_changes() { ign_small_rcin_changes = true; }