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RC_Channel: make output_trim() go via _radio_out

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this ensures that _radio_out always contains the value that would be
output to the channel. This will be used by the SRV_Channels object
This commit is contained in:
Andrew Tridgell 2016-10-11 20:30:08 +11:00
parent c7f738c284
commit 96c7d9dde8
2 changed files with 4 additions and 3 deletions
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5
libraries/RC_Channel/RC_Channel.cpp
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@ -482,9 +482,10 @@ void RC_Channel::output() const
hal.rcout->write(_ch_out, _radio_out);
}
void RC_Channel::output_trim() const
void RC_Channel::output_trim()
{
hal.rcout->write(_ch_out, _radio_trim);
_radio_out = _radio_trim;
output();
}
void RC_Channel::output_trim_all()

2
libraries/RC_Channel/RC_Channel.h
View File

@ -106,7 +106,7 @@ public:
int16_t pwm_to_range_dz(uint16_t dead_zone);
int16_t range_to_pwm();
void output() const;
void output_trim() const;
void output_trim();
static void output_trim_all();
static void setup_failsafe_trim_mask(uint16_t chmask);
static void setup_failsafe_trim_all();