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RC_Channel tweaks. using Radio_trim rather than 1500 in Raw output. Cleaned up line in calc PWM to be easier to read.

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This commit is contained in:
Jason Short 2011-09-21 14:52:20 -07:00
parent 5ca50f1f01
commit ce338071eb
1 changed files with 4 additions and 2 deletions
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6
libraries/RC_Channel/RC_Channel.cpp
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@ -95,6 +95,7 @@ RC_Channel::set_pwm(int pwm)
}else{ }else{
control_in = pwm_to_angle(); control_in = pwm_to_angle();
control_in = (abs(control_in) < dead_zone) ? 0 : control_in; control_in = (abs(control_in) < dead_zone) ? 0 : control_in;
//if (fabs(scale_output) > 0){ //if (fabs(scale_output) > 0){
// control_in *= scale_output; // control_in *= scale_output;
//} //}
@ -126,16 +127,17 @@ RC_Channel::calc_pwm(void)
{ {
if(_type == RC_CHANNEL_RANGE){ if(_type == RC_CHANNEL_RANGE){
pwm_out = range_to_pwm(); pwm_out = range_to_pwm();
radio_out = (_reverse >=0 ? pwm_out + radio_min : radio_max - pwm_out); radio_out = (_reverse >= 0) ? (radio_min + pwm_out) : (radio_max - pwm_out);
}else if(_type == RC_CHANNEL_ANGLE_RAW){ }else if(_type == RC_CHANNEL_ANGLE_RAW){
pwm_out = (float)servo_out * .1; pwm_out = (float)servo_out * .1;
radio_out = (pwm_out * _reverse) + 1500; radio_out = (pwm_out * _reverse) + radio_trim;
}else{ }else{
pwm_out = angle_to_pwm(); pwm_out = angle_to_pwm();
radio_out = pwm_out + radio_trim; radio_out = pwm_out + radio_trim;
} }
radio_out = constrain(radio_out, radio_min.get(), radio_max.get()); radio_out = constrain(radio_out, radio_min.get(), radio_max.get());
} }