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https://github.com/ArduPilot/ardupilot
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RC_Channel: formatting fixes
This commit is contained in:
Randy Mackay
parent
77d5165c01
commit
cd38940ecf
@ -106,35 +106,30 @@ RC_Channel::RC_Channel(void)
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AP_Param::setup_object_defaults(this, var_info);
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}
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void
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RC_Channel::set_range(uint16_t high)
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void RC_Channel::set_range(uint16_t high)
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{
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type_in = RC_CHANNEL_TYPE_RANGE;
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high_in = high;
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}
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void
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RC_Channel::set_angle(uint16_t angle)
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void RC_Channel::set_angle(uint16_t angle)
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{
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type_in = RC_CHANNEL_TYPE_ANGLE;
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high_in = angle;
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}
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void
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RC_Channel::set_default_dead_zone(int16_t dzone)
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void RC_Channel::set_default_dead_zone(int16_t dzone)
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{
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dead_zone.set_default(abs(dzone));
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}
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bool
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RC_Channel::get_reverse(void) const
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bool RC_Channel::get_reverse(void) const
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{
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return bool(reversed.get());
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}
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// read input from hal.rcin or overrides
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bool
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RC_Channel::update(void)
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bool RC_Channel::update(void)
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{
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if (has_override() && !rc().ignore_overrides()) {
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radio_in = override_value;
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@ -157,8 +152,7 @@ RC_Channel::update(void)
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// recompute control values with no deadzone
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// When done this way the control_in value can be used as servo_out
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// to give the same output as input
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void
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RC_Channel::recompute_pwm_no_deadzone()
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void RC_Channel::recompute_pwm_no_deadzone()
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{
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if (type_in == RC_CHANNEL_TYPE_RANGE) {
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control_in = pwm_to_range_dz(0);
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@ -193,8 +187,7 @@ int16_t RC_Channel::get_control_mid() const
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return an "angle in centidegrees" (normally -4500 to 4500) from
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the current radio_in value using the specified dead_zone
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*/
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int16_t
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RC_Channel::pwm_to_angle_dz_trim(uint16_t _dead_zone, uint16_t _trim) const
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int16_t RC_Channel::pwm_to_angle_dz_trim(uint16_t _dead_zone, uint16_t _trim) const
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{
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int16_t radio_trim_high = _trim + _dead_zone;
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int16_t radio_trim_low = _trim - _dead_zone;
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@ -213,8 +206,7 @@ RC_Channel::pwm_to_angle_dz_trim(uint16_t _dead_zone, uint16_t _trim) const
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return an "angle in centidegrees" (normally -4500 to 4500) from
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the current radio_in value using the specified dead_zone
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*/
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int16_t
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RC_Channel::pwm_to_angle_dz(uint16_t _dead_zone) const
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int16_t RC_Channel::pwm_to_angle_dz(uint16_t _dead_zone) const
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{
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return pwm_to_angle_dz_trim(_dead_zone, radio_trim);
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}
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@ -223,8 +215,7 @@ RC_Channel::pwm_to_angle_dz(uint16_t _dead_zone) const
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return an "angle in centidegrees" (normally -4500 to 4500) from
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the current radio_in value
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*/
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int16_t
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RC_Channel::pwm_to_angle() const
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int16_t RC_Channel::pwm_to_angle() const
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{
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return pwm_to_angle_dz(dead_zone);
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}
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@ -234,8 +225,7 @@ RC_Channel::pwm_to_angle() const
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convert a pulse width modulation value to a value in the configured
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range, using the specified deadzone
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*/
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int16_t
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RC_Channel::pwm_to_range_dz(uint16_t _dead_zone) const
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int16_t RC_Channel::pwm_to_range_dz(uint16_t _dead_zone) const
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{
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int16_t r_in = constrain_int16(radio_in, radio_min.get(), radio_max.get());
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@ -255,8 +245,7 @@ RC_Channel::pwm_to_range_dz(uint16_t _dead_zone) const
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convert a pulse width modulation value to a value in the configured
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range
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*/
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int16_t
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RC_Channel::pwm_to_range() const
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int16_t RC_Channel::pwm_to_range() const
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{
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return pwm_to_range_dz(dead_zone);
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}
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@ -272,8 +261,7 @@ int16_t RC_Channel::get_control_in_zero_dz(void) const
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// ------------------------------------------
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float
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RC_Channel::norm_input() const
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float RC_Channel::norm_input() const
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{
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float ret;
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int16_t reverse_mul = (reversed?-1:1);
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@ -291,8 +279,7 @@ RC_Channel::norm_input() const
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return constrain_float(ret, -1.0f, 1.0f);
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}
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float
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RC_Channel::norm_input_dz() const
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float RC_Channel::norm_input_dz() const
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{
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int16_t dz_min = radio_trim - dead_zone;
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int16_t dz_max = radio_trim + dead_zone;
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@ -323,8 +310,7 @@ float RC_Channel::norm_input_ignore_trim() const
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/*
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get percentage input from 0 to 100. This ignores the trim value.
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*/
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uint8_t
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RC_Channel::percent_input() const
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uint8_t RC_Channel::percent_input() const
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{
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if (radio_in <= radio_min) {
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return reversed?100:0;
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@ -40,16 +40,12 @@ public:
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// for hover throttle
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int16_t pwm_to_angle_dz_trim(uint16_t dead_zone, uint16_t trim) const;
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/*
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return a normalised input for a channel, in range -1 to 1,
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centered around the channel trim. Ignore deadzone.
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*/
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// return a normalised input for a channel, in range -1 to 1,
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// centered around the channel trim. Ignore deadzone.
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float norm_input() const;
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/*
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return a normalised input for a channel, in range -1 to 1,
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centered around the channel trim. Take into account the deadzone
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*/
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// return a normalised input for a channel, in range -1 to 1,
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// centered around the channel trim. Take into account the deadzone
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float norm_input_dz() const;
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// return a normalised input for a channel, in range -1 to 1,
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@ -99,7 +95,7 @@ public:
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AP_Int16 option; // e.g. activate EPM gripper / enable fence
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// auxillary switch support:
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// auxiliary switch support
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void init_aux();
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bool read_aux();
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