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RC_Channel: removed set_filter() and scale_output 

these unused options were costing 5 bytes per channel, for a total of
50 bytes on ArduCopter
This commit is contained in:
Andrew Tridgell 2012-11-05 20:49:42 +11:00
parent 6a24bdec05
commit d57566ad0e
4 changed files with 2 additions and 43 deletions
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36
libraries/RC_Channel/RC_Channel.cpp
View File

@ -116,12 +116,6 @@ RC_Channel::get_reverse(void)
else return 0;
}
void
RC_Channel::set_filter(bool filter)
{
_filter = filter;
}
void
RC_Channel::set_type(uint8_t t)
{
@ -139,16 +133,6 @@ RC_Channel::trim()
void
RC_Channel::set_pwm(int16_t pwm)
{
/*if(_filter){
* if(radio_in == 0)
* radio_in = pwm;
* else
* radio_in = (pwm + radio_in) >> 1; // Small filtering
* }else{
* radio_in = pwm;
* }*/
radio_in = pwm;
if(_type == RC_CHANNEL_RANGE) {
@ -157,27 +141,9 @@ RC_Channel::set_pwm(int16_t pwm)
//control_in = min(control_in, _high);
control_in = (control_in < _dead_zone) ? 0 : control_in;
if (fabs(scale_output) != 1) {
control_in *= scale_output;
}
}else{
} else {
//RC_CHANNEL_ANGLE, RC_CHANNEL_ANGLE_RAW
control_in = pwm_to_angle();
if (fabs(scale_output) != 1) {
control_in *= scale_output;
}
/*
* // coming soon ??
* if(expo) {
* long temp = control_in;
* temp = (temp * temp) / (long)_high;
* control_in = (int16_t)((control_in >= 0) ? temp : -temp);
* }*/
}
}

5
libraries/RC_Channel/RC_Channel.h
View File

@ -19,8 +19,6 @@ public:
/// @param name Optional name for the group.
///
RC_Channel(uint8_t ch_out) :
scale_output(1.0),
_filter(false),
_high(1),
_ch_out(ch_out) {
if (_reverse == 0) {
@ -36,7 +34,6 @@ public:
void load_eeprom(void);
void save_eeprom(void);
void save_trim(void);
void set_filter(bool filter);
void set_type(uint8_t t);
// setup the control preferences
@ -88,7 +85,6 @@ public:
int16_t pwm_to_range();
int16_t range_to_pwm();
float scale_output;
static void set_apm_rc(APM_RC_Class * apm_rc);
void output();
void enable_out();
@ -97,7 +93,6 @@ public:
static const struct AP_Param::GroupInfo var_info[];
private:
bool _filter;
AP_Int8 _reverse;
AP_Int16 _dead_zone;
uint8_t _type;

1
libraries/RC_Channel/examples/RC_Channel/RC_Channel.pde
View File

@ -85,7 +85,6 @@ void setup()
rc_2.set_dead_zone(80);
rc_3.set_range(0,1000);
rc_3.set_dead_zone(20);
rc_3.scale_output = .8; // gives more dynamic range to quads
rc_4.set_angle(6000);
rc_4.set_dead_zone(500);
rc_5.set_range(0,1000);

3
libraries/RC_Channel/examples/RC_Channel2/RC_Channel2.pde
View File

@ -87,7 +87,6 @@ void setup()
rc_2.dead_zone = 80;
rc_3.set_range(0,1000);
rc_3.dead_zone = 20;
rc_3.scale_output = .8; // gives more dynamic range to quads
rc_4.set_angle(6000);
rc_4.dead_zone = 500;
rc_5.set_range(0,1000);
@ -206,4 +205,4 @@ setup_radio()
}
}
return;
}
}