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RC_Channel: added set_esc_scaling() to SRV_Channels

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This commit is contained in:
Andrew Tridgell 2016-10-12 13:04:53 +11:00
parent fcd98e2c44
commit 2ec439d7e3
2 changed files with 15 additions and 0 deletions
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12
libraries/RC_Channel/SRV_Channel.cpp
View File

@ -22,6 +22,8 @@
#include "SRV_Channel.h"
#include "RC_Channel.h"
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo SRV_Channels::var_info[] = {
// @Param: RNG_ENABLE
// @DisplayName: Enable servo output ranges
@ -248,3 +250,13 @@ void SRV_Channels::set_trim(void)
servo_trim[i].set_and_save(new_trim);
}
}
void SRV_Channels::set_esc_scaling(uint8_t chnum)
{
if (!enable || chnum >= NUM_SERVO_RANGE_CHANNELS) {
const RC_Channel *ch = RC_Channel::rc_channel(chnum);
hal.rcout->set_esc_scaling(ch->get_radio_min(), ch->get_radio_max());
} else {
hal.rcout->set_esc_scaling(servo_min[chnum], servo_max[chnum]);
}
}

3
libraries/RC_Channel/SRV_Channel.h
View File

@ -36,6 +36,9 @@ public:
// set and save trim values from current RC input trim
void set_trim(void);
// setup output ESC scaling for a channel
void set_esc_scaling(uint8_t chnum);
private:
AP_Int8 enable;