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RC_Channel: add get_control_mid function

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This commit is contained in:
Jonathan Challinger 2014-11-17 14:00:31 -08:00 committed by Randy Mackay
parent 4d7988b302
commit 9375fc8947
2 changed files with 25 additions and 0 deletions
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22
libraries/RC_Channel/RC_Channel.cpp
View File

@ -224,6 +224,28 @@ RC_Channel::calc_pwm(void)
radio_out = constrain_int16(radio_out, radio_min.get(), radio_max.get());
}
/*
return the center stick position expressed as a control_in value
used for thr_mid in copter
*/
int16_t
RC_Channel::get_control_mid() {
if (_type == RC_CHANNEL_TYPE_RANGE) {
int16_t r_in = (radio_min.get()+radio_max.get())/2;
if (_reverse == -1) {
r_in = radio_max.get() - (r_in - radio_min.get());
}
int16_t radio_trim_low = radio_min + _dead_zone;
return (_low + ((int32_t)(_high - _low) * (int32_t)(r_in - radio_trim_low)) / (int32_t)(radio_max - radio_trim_low));
} else {
return 0;
}
}
// ------------------------------------------
void

3
libraries/RC_Channel/RC_Channel.h
View File

@ -61,6 +61,9 @@ public:
// get the channel number
uint8_t get_ch_out(void) const { return _ch_out; };
// get the center stick position expressed as a control_in value
int16_t get_control_mid();
// read input from APM_RC - create a control_in value
void set_pwm(int16_t pwm);
static void set_pwm_all(void);