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AP_Motors: Tradheli- removes unnecessary code from swash servo trim bug fix

This commit is contained in:
bnsgeyer 2018-05-14 15:05:39 -07:00 committed by Andrew Tridgell
parent 3615219c4c
commit b20ebc6540
1 changed files with 3 additions and 7 deletions
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10
libraries/AP_Motors/AP_MotorsHeli.cpp
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@ -427,7 +427,8 @@ void AP_MotorsHeli::reset_flight_controls()
}
// convert input in -1 to +1 range to pwm output for swashplate servo. Special handling of trim is required
// to keep travel between the swashplate servos consistent.
// to keep travel between the swashplate servos consistent. Swashplate servo travel range is fixed to 1000 pwm
// and therefore the input is multiplied by 500 to get PWM output.
int16_t AP_MotorsHeli::calc_pwm_output_1to1_swash_servo(float input, const SRV_Channel *servo)
{
int16_t ret;
@ -438,12 +439,7 @@ int16_t AP_MotorsHeli::calc_pwm_output_1to1_swash_servo(float input, const SRV_C
input = -input;
}
// With values of trim other than 1500 between swashplate servos
if (input >= 0.0f) {
ret = (int16_t (input * 500.0f) + servo->get_trim());
} else {
ret = (int16_t (input * 500.0f) + servo->get_trim());
}
ret = (int16_t (input * 500.0f) + servo->get_trim());
return constrain_int16(ret, servo->get_output_min(), servo->get_output_max());
}