From 59a3087cb62c31cb51dbe241fbc2b61f841eb015 Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sat, 27 Nov 2010 03:04:30 +0000
Subject: [PATCH] added control / nav mixing

git-svn-id: https://arducopter.googlecode.com/svn/trunk@944 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/RC_Channel/RC_Channel.cpp | 6 ++++++
 libraries/RC_Channel/RC_Channel.h   | 4 +++-
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index bd06912e3b..656323d9df 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -63,6 +63,12 @@ RC_Channel::set_pwm(int pwm)
 	}
 }
 
+int
+RC_Channel::control_mix(float value)
+{
+	return (1 - abs(control_in / _high)) * value + control_in;
+}
+
 // are we below a threshold?
 boolean
 RC_Channel::get_failsafe(void)
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index 74eb45d0ee..1ab3e22147 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -42,7 +42,9 @@ class RC_Channel
 	// value generated from PWM
 	int16_t 	control_in;
 	int8_t 		dead_zone; // used to keep noise down and create a dead zone.
-
+	
+	int			control_mix(float value);
+	
 	// current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100
 	int16_t 	servo_out;