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Rover: use new constrain_int16 function

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This commit is contained in:
Andrew Tridgell 2012-12-19 13:35:13 +11:00
parent a072afa223
commit be39ccf02c
4 changed files with 7 additions and 7 deletions
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8
APMrover2/Attitude.pde
View File

@ -28,7 +28,7 @@ static void throttle_slew_limit(int16_t last_throttle)
if (temp < 1) {
temp = 1;
}
g.channel_throttle.radio_out = constrain(g.channel_throttle.radio_out, last_throttle - temp, last_throttle + temp);
g.channel_throttle.radio_out = constrain_int16(g.channel_throttle.radio_out, last_throttle - temp, last_throttle + temp);
}
}
@ -45,7 +45,7 @@ static void calc_throttle()
groundspeed_error = rov_speed - (float)ground_speed;
throttle = throttle_target + g.pidTeThrottle.get_pid(groundspeed_error);
g.channel_throttle.servo_out = constrain(throttle, 0, g.throttle_max.get());
g.channel_throttle.servo_out = constrain_int16(throttle, 0, g.throttle_max.get());
}
/*****************************************
@ -70,7 +70,7 @@ static void calc_nav_roll()
nav_roll += 9000; // if obstacle in front turn 90° right
speed_boost = false;
}
nav_roll = constrain(nav_roll, -g.roll_limit.get(), g.roll_limit.get());
nav_roll = constrain_int16(nav_roll, -g.roll_limit.get(), g.roll_limit.get());
}
// Zeros out navigation Integrators if we are changing mode, have passed a waypoint, etc.
@ -105,7 +105,7 @@ static void set_servos(void)
g.channel_rudder.calc_pwm();
g.channel_throttle.radio_out = g.channel_throttle.radio_in;
g.channel_throttle.servo_out = constrain(g.channel_throttle.servo_out, g.throttle_min.get(), g.throttle_max.get());
g.channel_throttle.servo_out = constrain_int16(g.channel_throttle.servo_out, g.throttle_min.get(), g.throttle_max.get());
}
if (control_mode >= AUTO) {

2
APMrover2/commands.pde
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@ -67,7 +67,7 @@ static struct Location get_cmd_with_index(int i)
// -------
static void set_cmd_with_index(struct Location temp, int i)
{
i = constrain(i, 0, g.command_total.get());
i = constrain_int16(i, 0, g.command_total.get());
uint16_t mem = WP_START_BYTE + (i * WP_SIZE);
// Set altitude options bitmask

2
APMrover2/control_modes.pde
View File

@ -76,7 +76,7 @@ static void read_trim_switch()
} else if (control_mode == LEARNING) {
// if SW7 is ON in LEARNING = record the Wp
// set the next_WP (home is stored at 0)
CH7_wp_index = constrain(CH7_wp_index, 1, MAX_WAYPOINTS);
CH7_wp_index = constrain_int16(CH7_wp_index, 1, MAX_WAYPOINTS);
current_loc.id = MAV_CMD_NAV_WAYPOINT;

2
APMrover2/test.pde
View File

@ -155,7 +155,7 @@ test_radio(uint8_t argc, const Menu::arg *argv)
// ------------------------------
set_servos();
tuning_value = constrain(((float)(g.rc_7.radio_in - g.rc_7.radio_min) / (float)(g.rc_7.radio_max - g.rc_7.radio_min)),0,1);
tuning_value = constrain(((float)(g.rc_7.radio_in - g.rc_7.radio_min) / (float)(g.rc_7.radio_max - g.rc_7.radio_min)),0,1);
cliSerial->printf_P(PSTR("IN 1: %d\t2: %d\t3: %d\t4: %d\t5: %d\t6: %d\t7: %d\t8: %d Tuning = %2.3f\n"),
g.channel_roll.control_in,