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Working on correct RC outputs without magic numbers

This commit is contained in:
Lorenz Meier 2012-09-12 11:20:33 +02:00
parent cb57fdb28c
commit 31ecc4d5df
1 changed files with 9 additions and 3 deletions
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12
apps/sensors/sensors.cpp
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@ -964,7 +964,7 @@ Sensors::ppm_poll()
_rc.chan[i].scaled = (ppm_buffer[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]); _rc.chan[i].scaled = (ppm_buffer[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]);
} else if (ppm_buffer[i] < (_parameters.trim[i] - _parameters.dz[i])) { } else if (ppm_buffer[i] < (_parameters.trim[i] - _parameters.dz[i])) {
/* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */ /* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */
_rc.chan[i].scaled = -1.0 + ((ppm_buffer[i] - _parameters.min[i]) / (float)(_parameters.trim[i] - _parameters.min[i])); _rc.chan[i].scaled = -1.0f + ((ppm_buffer[i] - _parameters.min[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
} else { } else {
/* in the configured dead zone, output zero */ /* in the configured dead zone, output zero */
@ -985,22 +985,28 @@ Sensors::ppm_poll()
_rc.timestamp = ppm_last_valid_decode; _rc.timestamp = ppm_last_valid_decode;
/* roll input - rolling right is stick-wise and rotation-wise positive */ /* roll input - rolling right is stick-wise and rotation-wise positive */
manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled * _parameters.rc_scale_roll; manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled;
if (manual_control.roll < -1.0f) manual_control.roll = -1.0f; if (manual_control.roll < -1.0f) manual_control.roll = -1.0f;
if (manual_control.roll > 1.0f) manual_control.roll = 1.0f; if (manual_control.roll > 1.0f) manual_control.roll = 1.0f;
if (!isnan(_parameters.rc_scale_roll) || isinf(_parameters.rc_scale_roll))
//manual_control.roll *= _parameters.rc_scale_roll;
/* /*
* pitch input - stick down is negative, but stick down is pitching up (pos) in NED, * pitch input - stick down is negative, but stick down is pitching up (pos) in NED,
* so reverse sign. * so reverse sign.
*/ */
manual_control.pitch = -1.0f * _rc.chan[_rc.function[PITCH]].scaled * _parameters.rc_scale_pitch; manual_control.pitch = -1.0f * _rc.chan[_rc.function[PITCH]].scaled;
if (manual_control.pitch < -1.0f) manual_control.pitch = -1.0f; if (manual_control.pitch < -1.0f) manual_control.pitch = -1.0f;
if (manual_control.pitch > 1.0f) manual_control.pitch = 1.0f; if (manual_control.pitch > 1.0f) manual_control.pitch = 1.0f;
if (!isnan(_parameters.rc_scale_pitch) || isinf(_parameters.rc_scale_pitch))
manual_control.pitch *= _parameters.rc_scale_pitch;
/* yaw input - stick right is positive and positive rotation */ /* yaw input - stick right is positive and positive rotation */
manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled * _parameters.rc_scale_yaw; manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled * _parameters.rc_scale_yaw;
if (manual_control.yaw < -1.0f) manual_control.yaw = -1.0f; if (manual_control.yaw < -1.0f) manual_control.yaw = -1.0f;
if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f; if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f;
if (!isnan(_parameters.rc_scale_yaw) || isinf(_parameters.rc_scale_yaw))
manual_control.yaw *= _parameters.rc_scale_yaw;
/* throttle input */ /* throttle input */
manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled; manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;