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added a limit to range output

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This commit is contained in:
Jason Short 2012-02-18 21:08:17 -08:00
parent aa57fce9f4
commit 669e8e34ea
2 changed files with 7 additions and 3 deletions
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2
ArduCopter/Parameters.pde
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@ -111,6 +111,8 @@ static const AP_Param::Info var_info[] PROGMEM = {
GSCALAR(camera_roll_gain, "CAM_R_G"), GSCALAR(camera_roll_gain, "CAM_R_G"),
GSCALAR(stabilize_d, "STAB_D"), GSCALAR(stabilize_d, "STAB_D"),
GSCALAR(acro_p, "ACRO_P"), GSCALAR(acro_p, "ACRO_P"),
GSCALAR(axis_lock_p, "AXIS_P"),
GSCALAR(axis_enabled, "AXIS_ENABLE"),
// PID controller // PID controller
//--------------- //---------------

2
libraries/RC_Channel/RC_Channel.cpp
View File

@ -108,6 +108,8 @@ RC_Channel::set_pwm(int pwm)
if(_type == RC_CHANNEL_RANGE){ if(_type == RC_CHANNEL_RANGE){
//Serial.print("range "); //Serial.print("range ");
control_in = pwm_to_range(); control_in = pwm_to_range();
//control_in = constrain(control_in, _low, _high);
control_in = min(control_in, _high);
control_in = (control_in < _dead_zone) ? 0 : control_in; control_in = (control_in < _dead_zone) ? 0 : control_in;
if (fabs(scale_output) != 1){ if (fabs(scale_output) != 1){