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SRV_Channel: added function based set_output_min_max

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this is for a conversion of AP_Motors heli code to servo functions
This commit is contained in:
Andrew Tridgell 2018-05-21 12:58:12 +10:00
parent 86b85c569a
commit e94177e469
2 changed files with 14 additions and 0 deletions
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3
libraries/SRV_Channel/SRV_Channel.h
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@ -301,6 +301,9 @@ public:
// adjust trim of a channel by a small increment
void adjust_trim(SRV_Channel::Aux_servo_function_t function, float v);
// set MIN/MAX parameters for a function
static void set_output_min_max(SRV_Channel::Aux_servo_function_t function, uint16_t min_pwm, uint16_t max_pwm);
// save trims
void save_trim(void);

11
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -654,6 +654,17 @@ void SRV_Channels::set_range(SRV_Channel::Aux_servo_function_t function, uint16_
}
}
// set MIN parameter for a function
void SRV_Channels::set_output_min_max(SRV_Channel::Aux_servo_function_t function, uint16_t min_pwm, uint16_t max_pwm)
{
for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
if (channels[i].function == function) {
channels[i].set_output_min(min_pwm);
channels[i].set_output_max(max_pwm);
}
}
}
// constrain to output min/max for function
void SRV_Channels::constrain_pwm(SRV_Channel::Aux_servo_function_t function)
{