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sub: fixup joystick changes according to review

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https://github.com/ArduPilot/ardupilot/pull/11861
This commit is contained in:
Willian Galvani 2019-09-26 13:56:04 -03:00 committed by Jacob Walser
parent ee65aa2993
commit 9c6a63b55b
1 changed files with 9 additions and 5 deletions
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12
ArduSub/joystick.cpp
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@ -94,16 +94,20 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
uint32_t tnow = AP_HAL::millis();
int16_t zTot = z + zTrim;
int16_t yTot = y + yTrim;
int16_t xTot = x + xTrim;
int16_t zTot;
int16_t yTot;
int16_t xTot;
if (!controls_reset_since_input_hold) {
zTot = zTrim + 500; // 500 is neutral for throttle
yTot = yTrim;
xTot = xTrim;
// if all 3 axes return to neutral, than we're ready to accept input again
controls_reset_since_input_hold = (z == 500 && y == 0 && x == 0);
controls_reset_since_input_hold = (abs(z - 500) < 50) && (abs(y) < 50) && (abs(x) < 50);
} else {
zTot = z + zTrim;
yTot = y + yTrim;
xTot = x + xTrim;
}
RC_Channels::set_override(0, constrain_int16(pitchTrim + rpyCenter,1100,1900), tnow); // pitch