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Copter: more constrain fixes

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This commit is contained in:
Andrew Tridgell 2013-04-21 23:44:57 +10:00
parent 2c05030fb1
commit 82c604dd67
6 changed files with 9 additions and 9 deletions
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2
ArduCopter/control_modes.pde
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@ -139,7 +139,7 @@ static void read_trim_switch()
// set the next_WP (home is stored at 0)
// max out at 100 since I think we need to stay under the EEPROM limit
CH7_wp_index = constrain(CH7_wp_index, 1, 100);
CH7_wp_index = constrain_int16(CH7_wp_index, 1, 100);
if(g.rc_3.control_in > 0) {
// set our location ID to 16, MAV_CMD_NAV_WAYPOINT

2
ArduCopter/navigation.pde
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@ -200,7 +200,7 @@ static void reset_nav_params(void)
// assumes it is called at 100hz so centi-degrees and update rate cancel each other out
static int32_t get_yaw_slew(int32_t current_yaw, int32_t desired_yaw, int16_t deg_per_sec)
{
return wrap_360_cd(current_yaw + constrain(wrap_180_cd(desired_yaw - current_yaw), -deg_per_sec, deg_per_sec));
return wrap_360_cd(current_yaw + constrain_int16(wrap_180_cd(desired_yaw - current_yaw), -deg_per_sec, deg_per_sec));
}

2
ArduCopter/sensors.pde
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@ -144,5 +144,5 @@ void read_receiver_rssi(void)
{
rssi_analog_source->set_pin(g.rssi_pin);
float ret = rssi_analog_source->read_latest();
receiver_rssi = constrain(ret, 0, 255);
receiver_rssi = constrain_int16(ret, 0, 255);
}

2
ArduCopter/setup.pde
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@ -331,7 +331,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
if (_oldSwitchPosition != _switchPosition) {
mode = flight_modes[_switchPosition];
mode = constrain(mode, 0, NUM_MODES-1);
mode = constrain_int16(mode, 0, NUM_MODES-1);
// update the user
print_switch(_switchPosition, mode, (g.simple_modes & (1<<_switchPosition)));

2
ArduCopter/system.pde
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@ -364,7 +364,7 @@ static void set_mode(uint8_t mode)
}
control_mode = mode;
control_mode = constrain(control_mode, 0, NUM_MODES - 1);
control_mode = constrain_int16(control_mode, 0, NUM_MODES - 1);
// if we change modes, we must clear landed flag
set_land_complete(false);

8
ArduCopter/toy.pde
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@ -128,8 +128,8 @@ void roll_pitch_toy()
yy = abs(yaw_rate / 500);
// constrain to lookup Array range
xx = constrain(xx, 0, 3);
yy = constrain(yy, 0, 8);
xx = constrain_int16(xx, 0, 3);
yy = constrain_int16(yy, 0, 8);
roll_rate = toy_lookup[yy * 4 + xx];
@ -140,12 +140,12 @@ void roll_pitch_toy()
}
int16_t roll_limit = 4500 / g.toy_yaw_rate;
roll_rate = constrain(roll_rate, -roll_limit, roll_limit);
roll_rate = constrain_int16(roll_rate, -roll_limit, roll_limit);
#elif TOY_MIXER == TOY_LINEAR_MIXER
roll_rate = -((int32_t)g.rc_2.control_in * (yaw_rate/100)) /30;
//cliSerial->printf("roll_rate: %d\n",roll_rate);
roll_rate = constrain(roll_rate, -2000, 2000);
roll_rate = constrain_int32(roll_rate, -2000, 2000);
#elif TOY_MIXER == TOY_EXTERNAL_MIXER
// JKR update to allow external roll/yaw mixing