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RC_Channel: support channel reversal on range channels

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this makes it possible to have a reverse throttle in ArduPlane
This commit is contained in:
Andrew Tridgell 2012-09-16 15:05:26 +10:00
parent 303ca11c4c
commit bd31f340a7
1 changed files with 11 additions and 3 deletions
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14
libraries/RC_Channel/RC_Channel.cpp
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@ -288,6 +288,10 @@ RC_Channel::pwm_to_range()
{ {
int16_t r_in = constrain(radio_in, radio_min.get(), radio_max.get()); int16_t r_in = constrain(radio_in, radio_min.get(), radio_max.get());
if (_reverse == -1) {
r_in = radio_max.get() - (r_in - radio_min.get());
}
int16_t radio_trim_low = radio_min + _dead_zone; int16_t radio_trim_low = radio_min + _dead_zone;
if(r_in > radio_trim_low) if(r_in > radio_trim_low)
@ -320,11 +324,15 @@ float
RC_Channel::norm_output() RC_Channel::norm_output()
{ {
int16_t mid = (radio_max + radio_min) / 2; int16_t mid = (radio_max + radio_min) / 2;
float ret;
if(radio_out < mid) if(radio_out < mid)
return (float)(radio_out - mid) / (float)(mid - radio_min); ret = (float)(radio_out - mid) / (float)(mid - radio_min);
else else
return (float)(radio_out - mid) / (float)(radio_max - mid); ret = (float)(radio_out - mid) / (float)(radio_max - mid);
if (_reverse == -1) {
ret = -ret;
}
return ret;
} }
void RC_Channel::set_apm_rc( APM_RC_Class * apm_rc ) void RC_Channel::set_apm_rc( APM_RC_Class * apm_rc )