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AP_Mount: Fixed a bug with wrapping of panning angles.

This commit is contained in:
Grant Morphett 2015-06-22 08:48:30 +10:00 committed by Randy Mackay
parent 568b0fde3f
commit 84ac8abc42
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_Mount/AP_Mount_Backend.cpp
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@ -95,15 +95,15 @@ void AP_Mount_Backend::update_targets_from_rc()
// allow pilot speed position input to come directly from an RC_Channel
if (roll_rc_in && rc_ch(roll_rc_in)) {
_angle_ef_target_rad.x += rc_ch(roll_rc_in)->norm_input_dz() * 0.0001f * _frontend._joystick_speed;
constrain_float(_angle_ef_target_rad.x, radians(_state._roll_angle_min*0.01f), radians(_state._roll_angle_max*0.01f));
_angle_ef_target_rad.x = constrain_float(_angle_ef_target_rad.x, radians(_state._roll_angle_min*0.01f), radians(_state._roll_angle_max*0.01f));
}
if (tilt_rc_in && (rc_ch(tilt_rc_in))) {
_angle_ef_target_rad.y += rc_ch(tilt_rc_in)->norm_input_dz() * 0.0001f * _frontend._joystick_speed;
constrain_float(_angle_ef_target_rad.y, radians(_state._tilt_angle_min*0.01f), radians(_state._tilt_angle_max*0.01f));
_angle_ef_target_rad.y = constrain_float(_angle_ef_target_rad.y, radians(_state._tilt_angle_min*0.01f), radians(_state._tilt_angle_max*0.01f));
}
if (pan_rc_in && (rc_ch(pan_rc_in))) {
_angle_ef_target_rad.z += rc_ch(pan_rc_in)->norm_input_dz() * 0.0001f * _frontend._joystick_speed;
constrain_float(_angle_ef_target_rad.z, radians(_state._pan_angle_min*0.01f), radians(_state._pan_angle_max*0.01f));
_angle_ef_target_rad.z = constrain_float(_angle_ef_target_rad.z, radians(_state._pan_angle_min*0.01f), radians(_state._pan_angle_max*0.01f));
}
} else {
// allow pilot position input to come directly from an RC_Channel