forked from Archive/PX4-Autopilot
Working on correct RC outputs without magic numbers
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@ -964,7 +964,7 @@ Sensors::ppm_poll()
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_rc.chan[i].scaled = (ppm_buffer[i] - _parameters.trim[i]) / (float)(_parameters.max[i] - _parameters.trim[i]);
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} else if (ppm_buffer[i] < (_parameters.trim[i] - _parameters.dz[i])) {
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/* division by zero impossible for trim == min (as for throttle), as this falls in the above if clause */
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_rc.chan[i].scaled = -1.0 + ((ppm_buffer[i] - _parameters.min[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
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_rc.chan[i].scaled = -1.0f + ((ppm_buffer[i] - _parameters.min[i]) / (float)(_parameters.trim[i] - _parameters.min[i]));
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} else {
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/* in the configured dead zone, output zero */
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@ -985,22 +985,28 @@ Sensors::ppm_poll()
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_rc.timestamp = ppm_last_valid_decode;
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/* roll input - rolling right is stick-wise and rotation-wise positive */
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manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled * _parameters.rc_scale_roll;
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manual_control.roll = _rc.chan[_rc.function[ROLL]].scaled;
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if (manual_control.roll < -1.0f) manual_control.roll = -1.0f;
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if (manual_control.roll > 1.0f) manual_control.roll = 1.0f;
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if (!isnan(_parameters.rc_scale_roll) || isinf(_parameters.rc_scale_roll))
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//manual_control.roll *= _parameters.rc_scale_roll;
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/*
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* pitch input - stick down is negative, but stick down is pitching up (pos) in NED,
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* so reverse sign.
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*/
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manual_control.pitch = -1.0f * _rc.chan[_rc.function[PITCH]].scaled * _parameters.rc_scale_pitch;
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manual_control.pitch = -1.0f * _rc.chan[_rc.function[PITCH]].scaled;
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if (manual_control.pitch < -1.0f) manual_control.pitch = -1.0f;
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if (manual_control.pitch > 1.0f) manual_control.pitch = 1.0f;
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if (!isnan(_parameters.rc_scale_pitch) || isinf(_parameters.rc_scale_pitch))
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manual_control.pitch *= _parameters.rc_scale_pitch;
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/* yaw input - stick right is positive and positive rotation */
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manual_control.yaw = _rc.chan[_rc.function[YAW]].scaled * _parameters.rc_scale_yaw;
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if (manual_control.yaw < -1.0f) manual_control.yaw = -1.0f;
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if (manual_control.yaw > 1.0f) manual_control.yaw = 1.0f;
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if (!isnan(_parameters.rc_scale_yaw) || isinf(_parameters.rc_scale_yaw))
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manual_control.yaw *= _parameters.rc_scale_yaw;
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/* throttle input */
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manual_control.throttle = _rc.chan[_rc.function[THROTTLE]].scaled;
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