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RC_Channel: fixed dead_zone for range channels

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The dead_zone was being used inconsistently, used in PWM space in one
place, and in control output space in another.

The fix required us to move the index number of the RC channel eeprom
value for RCn_DZ, as users will have a throttle deadzone of 3 set in
their eeprom due to a bug that Randy just fixed that caused the value
to always be saved to eeprom. In plane we then need to fix the
deadzone for the throttle to be 30

this fixes issue #303

Thanks to Soren Kuula for spotting this!
This commit is contained in:
Andrew Tridgell 2013-07-13 13:18:54 +10:00
parent 086e8f80dc
commit 21859f9364
1 changed files with 8 additions and 3 deletions
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11
libraries/RC_Channel/RC_Channel.cpp
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@ -61,11 +61,17 @@ const AP_Param::GroupInfo RC_Channel::var_info[] PROGMEM = {
// @User: Advanced
AP_GROUPINFO("REV", 3, RC_Channel, _reverse, 1),
// Note: index 4 was used by the previous _dead_zone value. We
// changed it to 5 as dead zone values had previously been
// incorrectly saved, overriding user values. They were also
// incorrectly interpreted for the throttle on APM:Plane
// @Param: DZ
// @DisplayName: RC dead-zone
// @Description: dead zone around trim.
// @User: Advanced
AP_GROUPINFO("DZ", 4, RC_Channel, _dead_zone, 0),
AP_GROUPINFO("DZ", 5, RC_Channel, _dead_zone, 0),
AP_GROUPEND
};
@ -135,9 +141,8 @@ RC_Channel::set_pwm(int16_t pwm)
{
radio_in = pwm;
if(_type == RC_CHANNEL_TYPE_RANGE) {
if (_type == RC_CHANNEL_TYPE_RANGE) {
control_in = pwm_to_range();
control_in = (control_in < _dead_zone) ? 0 : control_in;
} else {
//RC_CHANNEL_TYPE_ANGLE, RC_CHANNEL_TYPE_ANGLE_RAW
control_in = pwm_to_angle();