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Cleaned up or reverse code. 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2842 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-07-13 05:54:40 +00:00
parent 100e3bac60
commit b7b0212506
1 changed files with 7 additions and 22 deletions
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29
libraries/RC_Channel/RC_Channel.cpp
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@ -92,7 +92,6 @@ RC_Channel::set_pwm(int pwm)
if (fabs(scale_output) > 0){ if (fabs(scale_output) > 0){
control_in *= scale_output; control_in *= scale_output;
} }
}else{ }else{
control_in = pwm_to_angle(); control_in = pwm_to_angle();
control_in = (abs(control_in) < dead_zone) ? 0 : control_in; control_in = (abs(control_in) < dead_zone) ? 0 : control_in;
@ -168,34 +167,20 @@ RC_Channel::update_min_max()
int16_t int16_t
RC_Channel::pwm_to_angle() RC_Channel::pwm_to_angle()
{ {
if(radio_in < radio_trim) if(radio_in > radio_trim)
return _reverse * ((long)_high * (long)(radio_in - radio_trim)) / (long)(radio_trim - radio_min);
else
return _reverse * ((long)_high * (long)(radio_in - radio_trim)) / (long)(radio_max - radio_trim); return _reverse * ((long)_high * (long)(radio_in - radio_trim)) / (long)(radio_max - radio_trim);
else
//return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_max - radio_trim)); return _reverse * ((long)_high * (long)(radio_in - radio_trim)) / (long)(radio_trim - radio_min);
//return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_trim - radio_min));
} }
int16_t int16_t
RC_Channel::angle_to_pwm() RC_Channel::angle_to_pwm()
{ {
if(_reverse == -1) if((servo_out * _reverse) > 0)
{ return _reverse * ((long)servo_out * (long)(radio_max - radio_trim)) / (long)_high;
if(servo_out < 0) else
return ( -1 * ((long)servo_out * (long)(radio_max - radio_trim)) / (long)_high); return _reverse * ((long)servo_out * (long)(radio_trim - radio_min)) / (long)_high;
else
return ( -1 * ((long)servo_out * (long)(radio_trim - radio_min)) / (long)_high);
} else {
if(servo_out > 0)
return ((long)servo_out * (long)(radio_max - radio_trim)) / (long)_high;
else
return ((long)servo_out * (long)(radio_trim - radio_min)) / (long)_high;
}
//return (((float)servo_out / (float)_high) * (float)(radio_max - radio_trim));
//return (((float)servo_out / (float)_high) * (float)(radio_trim - radio_min));
} }
// ------------------------------------------ // ------------------------------------------