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Sub: Apply deadzone by using norm_input_dz instead of norm_input

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This commit is contained in:
Jacob Walser 2016-10-13 15:12:39 -04:00 committed by Andrew Tridgell
parent 36f3cae535
commit a3565c90b5
5 changed files with 13 additions and 13 deletions
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4
ArduSub/control_acro.cpp
View File

@ -49,8 +49,8 @@ void Sub::acro_run()
//control_in is range 0-1000
//radio_in is raw pwm value
motors.set_forward(channel_forward->norm_input());
motors.set_lateral(channel_lateral->norm_input());
motors.set_forward(channel_forward->norm_input_dz());
motors.set_lateral(channel_lateral->norm_input_dz());
}

4
ArduSub/control_althold.cpp
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@ -160,6 +160,6 @@ void Sub::althold_run()
//control_in is range 0-1000
//radio_in is raw pwm value
motors.set_forward(channel_forward->norm_input());
motors.set_lateral(channel_lateral->norm_input());
motors.set_forward(channel_forward->norm_input_dz());
motors.set_lateral(channel_lateral->norm_input_dz());
}

10
ArduSub/control_manual.cpp
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@ -27,10 +27,10 @@ void Sub::manual_run()
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
motors.set_roll(channel_roll->norm_input()*0.67f);
motors.set_pitch(channel_pitch->norm_input()*0.67f);
motors.set_yaw(channel_yaw->norm_input()*0.67f);
motors.set_roll(channel_roll->norm_input_dz()*0.67f);
motors.set_pitch(channel_pitch->norm_input_dz()*0.67f);
motors.set_yaw(channel_yaw->norm_input_dz()*0.67f);
motors.set_throttle(channel_throttle->norm_input());
motors.set_forward(channel_forward->norm_input()*0.67f);
motors.set_lateral(channel_lateral->norm_input()*0.67f);
motors.set_forward(channel_forward->norm_input_dz()*0.67f);
motors.set_lateral(channel_lateral->norm_input_dz()*0.67f);
}

4
ArduSub/control_stabilize.cpp
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@ -78,6 +78,6 @@ void Sub::stabilize_run()
//control_in is range -1000-1000
//radio_in is raw pwm value
motors.set_forward(channel_forward->norm_input());
motors.set_lateral(channel_lateral->norm_input());
motors.set_forward(channel_forward->norm_input_dz());
motors.set_lateral(channel_lateral->norm_input_dz());
}

4
ArduSub/control_surface.cpp
View File

@ -59,6 +59,6 @@ void Sub::surface_run()
pos_control.update_z_controller();
// pilot has control for repositioning
motors.set_forward(channel_forward->norm_input());
motors.set_lateral(channel_lateral->norm_input());
motors.set_forward(channel_forward->norm_input_dz());
motors.set_lateral(channel_lateral->norm_input_dz());
}