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AntennaTracker: fixed pitch slew rate limit

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This commit is contained in:
Andrew Tridgell 2014-03-31 17:48:19 +11:00
parent 4cb9d4fcb5
commit ea6fbae666
1 changed files with 4 additions and 3 deletions
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7
Tools/AntennaTracker/tracking.pde
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@ -43,14 +43,15 @@ static void update_pitch_servo(float pitch)
// add slew rate limit // add slew rate limit
if (g.pitch_slew_time > 0.02f) { if (g.pitch_slew_time > 0.02f) {
uint16_t max_change = 0.02f * 18000 / g.yaw_slew_time; uint16_t max_change = 0.02f * 18000 / g.pitch_slew_time;
if (max_change < 1) { if (max_change < 1) {
max_change = 1; max_change = 1;
} }
new_servo_out = constrain_float(new_servo_out, new_servo_out = constrain_float(new_servo_out,
channel_yaw.servo_out - max_change, channel_pitch.servo_out - max_change,
channel_yaw.servo_out + max_change); channel_pitch.servo_out + max_change);
} }
channel_pitch.servo_out = new_servo_out;
channel_pitch.calc_pwm(); channel_pitch.calc_pwm();
channel_pitch.output(); channel_pitch.output();