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fixed bug 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1304 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-12-27 23:03:26 +00:00
parent 6c10842562
commit bf3ee6f843
1 changed files with 21 additions and 24 deletions
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45
libraries/RC_Channel/RC_Channel.cpp
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@ -51,7 +51,6 @@ void
RC_Channel::trim()
{
radio_trim = radio_in;
}
// read input from APM_RC - create a control_in value
@ -105,14 +104,12 @@ RC_Channel::calc_pwm(void)
{
if(_type == RANGE){
pwm_out = range_to_pwm();
pwm_out = range_to_pwm();
radio_out = pwm_out + radio_min;
}else{
pwm_out = angle_to_pwm();
pwm_out = angle_to_pwm();
radio_out = pwm_out + radio_trim;
}
//if(scale_output){
// pwm_out *= scale_output;
//}
radio_out = pwm_out + radio_min;
radio_out = constrain(radio_out,radio_min, radio_max);
}
@ -178,23 +175,6 @@ RC_Channel::pwm_to_angle()
//return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_trim - radio_min));
}
float
RC_Channel::norm_input()
{
if(radio_in < radio_trim)
return _reverse * (float)(radio_in - radio_trim) / (float)(radio_trim - radio_min);
else
return _reverse * (float)(radio_in - radio_trim) / (float)(radio_max - radio_trim);
}
float
RC_Channel::norm_output()
{
if(radio_out < radio_trim)
return (float)(radio_out - radio_trim) / (float)(radio_trim - radio_min);
else
return (float)(radio_out - radio_trim) / (float)(radio_max - radio_trim);
}
int16_t
RC_Channel::angle_to_pwm()
@ -224,5 +204,22 @@ RC_Channel::range_to_pwm()
return ((long)(servo_out - _low) * (long)(radio_max - radio_min)) / (long)(_high - _low);
}
// ------------------------------------------
float
RC_Channel::norm_input()
{
if(radio_in < radio_trim)
return _reverse * (float)(radio_in - radio_trim) / (float)(radio_trim - radio_min);
else
return _reverse * (float)(radio_in - radio_trim) / (float)(radio_max - radio_trim);
}
float
RC_Channel::norm_output()
{
if(radio_out < radio_trim)
return (float)(radio_out - radio_trim) / (float)(radio_trim - radio_min);
else
return (float)(radio_out - radio_trim) / (float)(radio_max - radio_trim);
}