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Revert "RC_Channel: removed pwm_out variable from RC_Channel" 

This reverts commit 8e4a003d8d.

It is used by MotorsMatrix
This commit is contained in:
Andrew Tridgell 2013-03-29 22:36:29 +11:00
parent 5f8c8e87a8
commit a093926b04
2 changed files with 4 additions and 3 deletions
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6
libraries/RC_Channel/RC_Channel.cpp
View File

@ -176,15 +176,15 @@ void
RC_Channel::calc_pwm(void)
{
if(_type == RC_CHANNEL_TYPE_RANGE) {
int16_t pwm_out = range_to_pwm();
pwm_out = range_to_pwm();
radio_out = (_reverse >= 0) ? (radio_min + pwm_out) : (radio_max - pwm_out);
}else if(_type == RC_CHANNEL_TYPE_ANGLE_RAW) {
int16_t pwm_out = (float)servo_out * 0.1f;
pwm_out = (float)servo_out * 0.1f;
radio_out = (pwm_out * _reverse) + radio_trim;
}else{ // RC_CHANNEL_TYPE_ANGLE
int16_t pwm_out = angle_to_pwm();
pwm_out = angle_to_pwm();
radio_out = pwm_out + radio_trim;
}

1
libraries/RC_Channel/RC_Channel.h
View File

@ -75,6 +75,7 @@ public:
void calc_pwm(void);
// PWM is without the offset from radio_min
int16_t pwm_out;
int16_t radio_out;
AP_Int16 radio_min;