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Fixed pwm limit to apply the proper limits / scaling

This commit is contained in:
Lorenz Meier 2013-10-30 09:14:17 +01:00
parent f0466143de
commit bd874afcfd
1 changed files with 19 additions and 3 deletions
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22
src/modules/systemlib/pwm_limit/pwm_limit.c
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@ -97,10 +97,26 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
progress = (hrt_absolute_time() - INIT_TIME_US - limit->time_armed)*10000 / RAMP_TIME_US;
for (unsigned i=0; i<num_channels; i++) {
uint16_t ramp_min_pwm;
/* if a disarmed pwm value was set, blend between disarmed and min */
if (disarmed_pwm[i] > 0) {
temp_pwm = output[i] * (max_pwm[i] - min_pwm[i])/2 + (max_pwm[i] + min_pwm[i])/2;
/* already follow user/controller input if higher than min_pwm */
effective_pwm[i] = (temp_pwm > min_pwm[i]) ? temp_pwm : ((disarmed_pwm[i]*(10000-progress) + min_pwm[i])*progress) / 10000;
/* safeguard against overflows */
uint16_t disarmed = disarmed_pwm[i];
if (disarmed > min_pwm[i])
disarmed = min_pwm[i];
uint16_t disarmed_min_diff = min_pwm[i] - disarmed;
ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / 10000;
} else {
/* no disarmed pwm value set, choose min pwm */
ramp_min_pwm = min_pwm[i];
}
effective_pwm[i] = output[i] * (max_pwm[i] - ramp_min_pwm)/2 + (max_pwm[i] + ramp_min_pwm)/2;
output[i] = (float)progress/10000.0f * output[i];
}
break;