mirror of https://github.com/ArduPilot/ardupilot
SRV_Channel: added set_trim_to_servo_out_for()
this will be used for new TRIM_AUTO functionality in plane
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@ -288,8 +288,8 @@ public:
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// set output for all channels matching the given function type, allow radio_trim to center servo
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static void set_output_pwm_trimmed(SRV_Channel::Aux_servo_function_t function, int16_t value);
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// set and save the trim for a function channel to radio_in on matching input channel
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static void set_trim_to_radio_in_for(SRV_Channel::Aux_servo_function_t function);
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// set and save the trim for a function channel to the output value
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static void set_trim_to_servo_out_for(SRV_Channel::Aux_servo_function_t function);
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// set the trim for a function channel to min of the channel
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static void set_trim_to_min_for(SRV_Channel::Aux_servo_function_t function);
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@ -211,22 +211,18 @@ SRV_Channels::set_output_pwm_trimmed(SRV_Channel::Aux_servo_function_t function,
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}
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/*
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set and save the trim value to radio_in for all channels matching
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set and save the trim value to current output for all channels matching
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the given function type
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*/
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void
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SRV_Channels::set_trim_to_radio_in_for(SRV_Channel::Aux_servo_function_t function)
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SRV_Channels::set_trim_to_servo_out_for(SRV_Channel::Aux_servo_function_t function)
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{
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if (!function_assigned(function)) {
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return;
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}
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for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
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if (channels[i].function.get() == function) {
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RC_Channel *rc = RC_Channels::rc_channel(channels[i].ch_num);
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if (rc && rc->get_radio_in() != 0) {
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rc->set_radio_trim(rc->get_radio_in());
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rc->save_radio_trim();
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}
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channels[i].servo_trim.set_and_save_ifchanged(channels[i].output_pwm);
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}
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}
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}
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