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ArduPlane: RC_Channel refactor, reimplement stick_mix_channels 

reimplement the new overload of Plane::stick_mix_channel so
that it calls the existing overload
This commit is contained in:
skyscraper 2016-05-09 11:21:00 +01:00 committed by Andrew Tridgell
parent c0c8f1a5cc
commit e9e2f9020d
1 changed files with 10 additions and 11 deletions
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21
ArduPlane/Attitude.cpp
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@ -106,9 +106,9 @@ void Plane::stabilize_pitch(float speed_scaler)
if (control_mode == STABILIZE && channel_pitch->get_control_in() != 0) {
disable_integrator = true;
}
channel_pitch->set_servo_out (pitchController.get_servo_out(demanded_pitch - ahrs.pitch_sensor,
channel_pitch->set_servo_out(pitchController.get_servo_out(demanded_pitch - ahrs.pitch_sensor,
speed_scaler,
disable_integrator) );
disable_integrator));
}
/*
@ -129,16 +129,15 @@ void Plane::stick_mix_channel(RC_Channel *channel, int16_t &servo_out)
servo_out += channel->pwm_to_angle();
}
// one argument version when
void Plane::stick_mix_channel(RC_Channel *channel)
/*
One argument version for when the servo out in the rc channel
is the target
*/
void Plane::stick_mix_channel(RC_Channel * channel)
{
float ch_inf;
ch_inf = (float)channel->get_radio_in() - (float)channel->get_radio_trim();
ch_inf = fabsf(ch_inf);
ch_inf = MIN(ch_inf, 400.0f);
ch_inf = ((400.0f - ch_inf) / 400.0f);
channel->set_servo_out(channel->get_servo_out() * ch_inf + channel->pwm_to_angle());
int16_t servo_out = channel->get_servo_out();
stick_mix_channel(channel,servo_out);
channel->set_servo_out(servo_out);
}
/*