From 033828aeb6edad0d0db985256f1769c14afd64cf Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 3 Jun 2013 16:10:33 +1000 Subject: [PATCH] AP_Mount: make the code a bit easier to read --- libraries/AP_Mount/AP_Mount.cpp | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp index c3a9dad0b5..b1027fef59 100644 --- a/libraries/AP_Mount/AP_Mount.cpp +++ b/libraries/AP_Mount/AP_Mount.cpp @@ -339,36 +339,36 @@ void AP_Mount::update_mount_position() // RC radio manual angle control, but with stabilization from the AHRS case MAV_MOUNT_MODE_RC_TARGETING: { +#define rc_ch(i) RC_Channel::rc_channel(i-1) #if MNT_JSTICK_SPD_OPTION == ENABLED -#define rc_ch(i) RC_Channel::rc_channel(i) if (_joystick_speed) { // for spring loaded joysticks // allow pilot speed position input to come directly from an RC_Channel - if (_roll_rc_in && rc_ch(_roll_rc_in-1)) { - _roll_control_angle += rc_ch(_roll_rc_in-1)->norm_input() * 0.0001f * _joystick_speed; + if (_roll_rc_in && rc_ch(_roll_rc_in)) { + _roll_control_angle += rc_ch(_roll_rc_in)->norm_input() * 0.0001f * _joystick_speed; if (_roll_control_angle < radians(_roll_angle_min*0.01f)) _roll_control_angle = radians(_roll_angle_min*0.01f); if (_roll_control_angle > radians(_roll_angle_max*0.01f)) _roll_control_angle = radians(_roll_angle_max*0.01f); } - if (_tilt_rc_in && (rc_ch(_tilt_rc_in-1))) { - _tilt_control_angle += rc_ch(_tilt_rc_in-1)->norm_input() * 0.0001f * _joystick_speed; + if (_tilt_rc_in && (rc_ch(_tilt_rc_in))) { + _tilt_control_angle += rc_ch(_tilt_rc_in)->norm_input() * 0.0001f * _joystick_speed; if (_tilt_control_angle < radians(_tilt_angle_min*0.01f)) _tilt_control_angle = radians(_tilt_angle_min*0.01f); if (_tilt_control_angle > radians(_tilt_angle_max*0.01f)) _tilt_control_angle = radians(_tilt_angle_max*0.01f); } - if (_pan_rc_in && (rc_ch(_pan_rc_in-1))) { - _pan_control_angle += rc_ch(_pan_rc_in-1)->norm_input() * 0.0001f * _joystick_speed; + if (_pan_rc_in && (rc_ch(_pan_rc_in))) { + _pan_control_angle += rc_ch(_pan_rc_in)->norm_input() * 0.0001f * _joystick_speed; if (_pan_control_angle < radians(_pan_angle_min*0.01f)) _pan_control_angle = radians(_pan_angle_min*0.01f); if (_pan_control_angle > radians(_pan_angle_max*0.01f)) _pan_control_angle = radians(_pan_angle_max*0.01f); } } else { #endif // allow pilot position input to come directly from an RC_Channel - if (_roll_rc_in && (rc_ch(_roll_rc_in-1))) { - _roll_control_angle = angle_input_rad(rc_ch(_roll_rc_in-1), _roll_angle_min, _roll_angle_max); + if (_roll_rc_in && (rc_ch(_roll_rc_in))) { + _roll_control_angle = angle_input_rad(rc_ch(_roll_rc_in), _roll_angle_min, _roll_angle_max); } - if (_tilt_rc_in && (rc_ch(_tilt_rc_in-1))) { - _tilt_control_angle = angle_input_rad(rc_ch(_tilt_rc_in-1), _tilt_angle_min, _tilt_angle_max); + if (_tilt_rc_in && (rc_ch(_tilt_rc_in))) { + _tilt_control_angle = angle_input_rad(rc_ch(_tilt_rc_in), _tilt_angle_min, _tilt_angle_max); } - if (_pan_rc_in && (rc_ch(_pan_rc_in-1))) { - _pan_control_angle = angle_input_rad(rc_ch(_pan_rc_in-1), _pan_angle_min, _pan_angle_max); + if (_pan_rc_in && (rc_ch(_pan_rc_in))) { + _pan_control_angle = angle_input_rad(rc_ch(_pan_rc_in), _pan_angle_min, _pan_angle_max); } #if MNT_JSTICK_SPD_OPTION == ENABLED }