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Rover: if statements is simple.

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This commit is contained in:
murata 2016-08-25 20:16:54 +09:00 committed by Lucas De Marchi
parent fd87a4f180
commit d620efbcb7
1 changed files with 6 additions and 6 deletions
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12
APMrover2/control_modes.cpp
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@ -51,12 +51,12 @@ void Rover::read_control_switch()
uint8_t Rover::readSwitch(void){ uint8_t Rover::readSwitch(void){
uint16_t pulsewidth = hal.rcin->read(g.mode_channel - 1); uint16_t pulsewidth = hal.rcin->read(g.mode_channel - 1);
if (pulsewidth <= 900 || pulsewidth >= 2200) return 255; // This is an error condition if (pulsewidth <= 900 || pulsewidth >= 2200) return 255; // This is an error condition
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1; if (pulsewidth <= 1230) return 0;
if (pulsewidth > 1360 && pulsewidth <= 1490) return 2; if (pulsewidth <= 1360) return 1;
if (pulsewidth > 1490 && pulsewidth <= 1620) return 3; if (pulsewidth <= 1490) return 2;
if (pulsewidth > 1620 && pulsewidth <= 1749) return 4; // Software Manual if (pulsewidth <= 1620) return 3;
if (pulsewidth >= 1750) return 5; // Hardware Manual if (pulsewidth <= 1749) return 4; // Software Manual
return 0; return 5; // Hardware Manual
} }
void Rover::reset_control_switch() void Rover::reset_control_switch()