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Plane: Simplify channel reading

This commit is contained in:
Michael du Breuil 2018-04-10 15:14:57 -07:00 committed by Andrew Tridgell
parent 290f474384
commit 7b7f5e242b
2 changed files with 4 additions and 25 deletions
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11
ArduPlane/Plane.h
View File

@ -309,17 +309,6 @@ private:
// This is used to enable the PX4IO override for testing
bool px4io_override_enabled;
struct {
// These are trim values used for elevon control
// For elevons radio_in[CH_ROLL] and radio_in[CH_PITCH] are
// equivalent aileron and elevator, not left and right elevon
uint16_t trim1;
uint16_t trim2;
// These are used in the calculation of elevon1_trim and elevon2_trim
uint16_t ch1_temp;
uint16_t ch2_temp;
} elevon { 1500, 1500, 1500, 1500 };
// Failsafe
struct {
// Used to track if the value on channel 3 (throtttle) has fallen below the failsafe threshold

18
ArduPlane/radio.cpp
View File

@ -183,25 +183,15 @@ void Plane::read_radio()
failsafe.last_valid_rc_ms = millis();
elevon.ch1_temp = channel_roll->read();
elevon.ch2_temp = channel_pitch->read();
uint16_t pwm_roll, pwm_pitch;
pwm_roll = elevon.ch1_temp;
pwm_pitch = elevon.ch2_temp;
RC_Channels::set_pwm_all();
if (control_mode == TRAINING) {
// in training mode we don't want to use a deadzone, as we
// want manual pass through when not exceeding attitude limits
channel_roll->set_pwm_no_deadzone(pwm_roll);
channel_pitch->set_pwm_no_deadzone(pwm_pitch);
channel_throttle->set_pwm_no_deadzone(channel_throttle->read());
channel_rudder->set_pwm_no_deadzone(channel_rudder->read());
} else {
channel_roll->set_pwm(pwm_roll);
channel_pitch->set_pwm(pwm_pitch);
channel_roll->recompute_pwm_no_deadzone();
channel_pitch->recompute_pwm_no_deadzone();
channel_throttle->recompute_pwm_no_deadzone();
channel_rudder->recompute_pwm_no_deadzone();
}
control_failsafe();