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RC_Channel: added get_radio_out_normalised()

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This commit is contained in:
Andrew Tridgell 2016-10-11 22:00:48 +11:00
parent 96c7d9dde8
commit fea7903aa8
2 changed files with 47 additions and 0 deletions
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40
libraries/RC_Channel/RC_Channel.cpp
View File

@ -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;
}

7
libraries/RC_Channel/RC_Channel.h
View File

@ -150,6 +150,13 @@ public:
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()
{
return _radio_min.configured() && _radio_max.configured();