aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

SRV_Channel: allow DO_SET_SERVO commands while rc pass-thru

Browse Source
This commit is contained in:
Tatsuya Yamaguchi 2019-06-03 10:57:01 +09:00 committed by Randy Mackay
parent ce48b82500
commit f9547fa28e
2 changed files with 23 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/SRV_Channel/SRV_Channel.h
View File

@ -217,7 +217,11 @@ public:
bool function_configured(void) const {
return function.configured();
}
// specify that small rc input changes should be ignored during passthrough
// used by DO_SET_SERVO commands
void ignore_small_rcin_changes() { ign_small_rcin_changes = true; }
private:
AP_Int16 servo_min;
AP_Int16 servo_max;
@ -268,6 +272,13 @@ private:
// mask of channels where we have a output_pwm value. Cleared when a
// scaled value is written.
static servo_mask_t have_pwm_mask;
// previous radio_in during pass-thru
int16_t previous_radio_in;
// specify that small rcinput changes should be ignored during passthrough
// used by DO_SET_SERVO commands
bool ign_small_rcin_changes;
};
/*

12
libraries/SRV_Channel/SRV_Channel_aux.cpp
View File

@ -46,7 +46,17 @@ void SRV_Channel::output_ch(void)
if (SRV_Channels::passthrough_disabled()) {
output_pwm = c->get_radio_trim();
} else {
output_pwm = c->get_radio_in();
const int16_t radio_in = c->get_radio_in();
if (!ign_small_rcin_changes) {
output_pwm = radio_in;
previous_radio_in = radio_in;
} else {
// check if rc input value has changed by more than the deadzone
if (abs(radio_in - previous_radio_in) > c->get_dead_zone()) {
output_pwm = radio_in;
ign_small_rcin_changes = false;
}
}
}
}
}