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Copter: find channel option "Transmitter Tuning" instead of CH6

This commit is contained in:
Luca Pescante 2023-10-07 18:51:05 +08:00 committed by Peter Barker
parent 028017e38e
commit a519597249
1 changed files with 12 additions and 11 deletions
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23
ArduCopter/tuning.cpp
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@ -1,33 +1,34 @@
#include "Copter.h"
/*
* Function to update various parameters in flight using the ch6 tuning knob
* Function to update various parameters in flight using the TRANSMITTER_TUNING channel knob
* This should not be confused with the AutoTune feature which can be found in control_autotune.cpp
*/
// tuning - updates parameters based on the ch6 tuning knob's position
// tuning - updates parameters based on the ch6 TRANSMITTER_TUNING channel knob's position
// should be called at 3.3hz
void Copter::tuning()
{
const RC_Channel *rc6 = rc().channel(CH_6);
const RC_Channel *rc_tuning = rc().find_channel_for_option(RC_Channel::AUX_FUNC::TRANSMITTER_TUNING);
// exit immediately if tuning channel is not set
if (rc_tuning == nullptr) {
return;
}
// exit immediately if the tuning function is not set or min and max are both zero
if ((g.radio_tuning <= 0) || (is_zero(g2.tuning_min.get()) && is_zero(g2.tuning_max.get()))) {
return;
}
// exit immediately when radio failsafe is invoked or transmitter has not been turned on
if (failsafe.radio || failsafe.radio_counter != 0 || rc6->get_radio_in() == 0) {
if (failsafe.radio || failsafe.radio_counter != 0 || rc_tuning->get_radio_in() == 0) {
return;
}
// exit immediately if a function is assigned to channel 6
if ((RC_Channel::AUX_FUNC)rc6->option.get() != RC_Channel::AUX_FUNC::DO_NOTHING) {
return;
}
const uint16_t radio_in = rc6->get_radio_in();
float tuning_value = linear_interpolate(g2.tuning_min, g2.tuning_max, radio_in, rc6->get_radio_min(), rc6->get_radio_max());
const uint16_t radio_in = rc_tuning->get_radio_in();
float tuning_value = linear_interpolate(g2.tuning_min, g2.tuning_max, radio_in, rc_tuning->get_radio_min(), rc_tuning->get_radio_max());
#if HAL_LOGGING_ENABLED
Log_Write_Parameter_Tuning(g.radio_tuning, tuning_value, g2.tuning_min, g2.tuning_max);
#endif