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SRV_Channel: added set_trim_to_servo_out_for() 

this will be used for new TRIM_AUTO functionality in plane
This commit is contained in:
Andrew Tridgell 2017-07-01 20:04:30 +10:00
parent 9cb672e85e
commit cde4afd28e
2 changed files with 6 additions and 10 deletions
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6
libraries/SRV_Channel/SRV_Channel.h
View File

@ -288,9 +288,9 @@ public:
// set output for all channels matching the given function type, allow radio_trim to center servo
static void set_output_pwm_trimmed(SRV_Channel::Aux_servo_function_t function, int16_t value);
// set and save the trim for a function channel to radio_in on matching input channel
static void set_trim_to_radio_in_for(SRV_Channel::Aux_servo_function_t function);
// set and save the trim for a function channel to the output value
static void set_trim_to_servo_out_for(SRV_Channel::Aux_servo_function_t function);
// set the trim for a function channel to min of the channel
static void set_trim_to_min_for(SRV_Channel::Aux_servo_function_t function);

10
libraries/SRV_Channel/SRV_Channel_aux.cpp
View File

@ -211,22 +211,18 @@ SRV_Channels::set_output_pwm_trimmed(SRV_Channel::Aux_servo_function_t function,
}
/*
set and save the trim value to radio_in for all channels matching
set and save the trim value to current output for all channels matching
the given function type
*/
void
SRV_Channels::set_trim_to_radio_in_for(SRV_Channel::Aux_servo_function_t function)
SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::Aux_servo_function_t function)
{
if (!function_assigned(function)) {
return;
}
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
if (channels[i].function.get() == function) {
RC_Channel *rc = RC_Channels::rc_channel(channels[i].ch_num);
if (rc && rc->get_radio_in() != 0) {
rc->set_radio_trim(rc->get_radio_in());
rc->save_radio_trim();
}
channels[i].servo_trim.set_and_save_ifchanged(channels[i].output_pwm);
}
}
}