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Fix manual values mapping

This commit is contained in:
Amilcar Lucas 2011-09-11 02:36:39 +02:00
parent d84f80cb0d
commit 84f108d598
1 changed files with 4 additions and 8 deletions
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12
libraries/AP_Mount/AP_Mount.cpp
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@ -124,31 +124,27 @@ void AP_Mount::update_mount()
yaw_angle=100*_roam_angles.z;
break;
}
case k_none:
{
//do nothing
break;
}
case k_manual: // radio manual control
if (g_rc_function[RC_Channel_aux::k_mount_roll])
roll_angle = map(g_rc_function[RC_Channel_aux::k_mount_roll]->radio_in,
g_rc_function[RC_Channel_aux::k_mount_roll]->radio_min,
g_rc_function[RC_Channel_aux::k_mount_roll]->radio_max,
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_min,
g_rc_function[RC_Channel_aux::k_mount_roll]->radio_max);
g_rc_function[RC_Channel_aux::k_mount_roll]->angle_max);
if (g_rc_function[RC_Channel_aux::k_mount_pitch])
pitch_angle = map(g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_in,
g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_min,
g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_max,
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_min,
g_rc_function[RC_Channel_aux::k_mount_pitch]->radio_max);
g_rc_function[RC_Channel_aux::k_mount_pitch]->angle_max);
if (g_rc_function[RC_Channel_aux::k_mount_yaw])
yaw_angle = map(g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_in,
g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_min,
g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_max,
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_min,
g_rc_function[RC_Channel_aux::k_mount_yaw]->radio_max);
g_rc_function[RC_Channel_aux::k_mount_yaw]->angle_max);
break;
case k_none:
default:
{
//do nothing