aepko/Ardupilot2
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Sub: Minor bug fix in radio.

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This commit is contained in:
Rustom Jehangir 2016-02-03 21:19:26 -08:00
parent 539bfde015
commit e441a51313
1 changed files with 3 additions and 4 deletions
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7
ArduSub/radio.cpp
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@ -139,9 +139,8 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
float throttleScale = 0.8; float throttleScale = 0.8;
int16_t rpyCenter = 1500; int16_t rpyCenter = 1500;
int16_t throttleBase = 1500-500*throttleScale; int16_t throttleBase = 1500-500*throttleScale;
int16_t rollTrim = 0; static int16_t rollTrim = 0;
static int16_t mode; static int16_t mode;
static int16_t camTilt = 1500; static int16_t camTilt = 1500;
if ( buttons & (1 << 4) ) { if ( buttons & (1 << 4) ) {
@ -156,9 +155,9 @@ void Sub::transform_manual_control_to_rc_override(int16_t x, int16_t y, int16_t
camTilt = constrain_float(camTilt-20,800,2200); camTilt = constrain_float(camTilt-20,800,2200);
} }
if ( (buttons & ( 1 << 14 )) && rollTrim > -200 ) { if ( (buttons & ( 1 << 2 )) && rollTrim > -200 ) {
rollTrim -= 10; rollTrim -= 10;
} else if ( (buttons & ( 1 << 15 )) && rollTrim < 200 ) { } else if ( (buttons & ( 1 << 3 )) && rollTrim < 200 ) {
rollTrim += 10; rollTrim += 10;
} }