From fea7903aa80b3e289f1121d76f248120016ab35b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 11 Oct 2016 22:00:48 +1100
Subject: [PATCH] RC_Channel: added get_radio_out_normalised()

---
 libraries/RC_Channel/RC_Channel.cpp | 40 +++++++++++++++++++++++++++++
 libraries/RC_Channel/RC_Channel.h   |  7 +++++
 2 files changed, 47 insertions(+)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 9fe2626faa..68ade11a98 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -571,3 +571,43 @@ bool RC_Channel::in_trim_dz()
 {
     return is_bounded_int32(_radio_in, _radio_trim - _dead_zone, _radio_trim + _dead_zone);
 }
+
+
+/*
+  return the current radio_out value normalised as a float with 1.0
+  being full output and 0.0 being zero output, taking into account
+  output type and reversals
+
+  For angle outputs the returned value is from -1 to 1
+
+  For range outputs the returned value is from 0 to 1
+ */
+float RC_Channel::get_radio_out_normalised(void) const
+{
+    if (_radio_max <= _radio_min) {
+        return 0;
+    }
+    float ret;
+    if (_type_out == RC_CHANNEL_TYPE_RANGE) {
+        if (_radio_out <= _radio_min) {
+            ret = 0;
+        } else if (_radio_out >= _radio_max) {
+            ret = 1;
+        } else {
+            ret = (_radio_out - _radio_min) / float(_radio_max - _radio_min);
+        }
+        if (_reverse == -1) {
+            ret = 1 - ret;
+        }
+    } else {
+        if (_radio_out < _radio_trim) {
+            ret = -(_radio_trim - _radio_out) / float(_radio_trim - _radio_min);
+        } else {
+            ret = (_radio_out - _radio_trim) / float(_radio_max - _radio_trim);
+        }
+        if (_reverse == -1) {
+            ret = -ret;
+        }
+    }
+    return ret;
+}
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 190ac13584..28aed0779c 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -149,6 +149,13 @@ public:
     int16_t    get_radio_trim() const { return _radio_trim.get();}
     void       set_radio_trim(int16_t val) { _radio_trim.set(val);}
     void       save_radio_trim() { _radio_trim.save();}
+
+    // return output type RC_CHANNEL_TYPE_*
+    uint8_t    get_type_out(void) const { return _type_out; }
+    
+    // get the current radio_out value as a floating point number
+    // normalised so that 1.0 is full output
+    float      get_radio_out_normalised() const;
     
     bool min_max_configured()
     {