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AP_Mount: ignore rc trim when calculating desired mount angles

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This commit is contained in:
Randy Mackay 2020-02-22 12:23:07 +09:00
parent 52520d9c28
commit 9fe8e01fe4
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Mount/AP_Mount_Backend.cpp
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@ -128,7 +128,7 @@ void AP_Mount_Backend::update_targets_from_rc()
// returns the angle (radians) that the RC_Channel input is receiving // returns the angle (radians) that the RC_Channel input is receiving
float AP_Mount_Backend::angle_input_rad(const RC_Channel* rc, int16_t angle_min, int16_t angle_max) float AP_Mount_Backend::angle_input_rad(const RC_Channel* rc, int16_t angle_min, int16_t angle_max)
{ {
return radians(((rc->norm_input() + 1.0f) * 0.5f * (angle_max - angle_min) + angle_min)*0.01f); return radians(((rc->norm_input_ignore_trim() + 1.0f) * 0.5f * (angle_max - angle_min) + angle_min)*0.01f);
} }
// calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (and radians) to point at the given target // calc_angle_to_location - calculates the earth-frame roll, tilt and pan angles (and radians) to point at the given target