forked from Archive/PX4-Autopilot
PWM output limiter: Improve comments.
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@ -1,7 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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* Author: Julian Oes <joes@student.ethz.ch>
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* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@ -35,9 +34,9 @@
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/**
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* @file pwm_limit.c
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*
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* Lib to limit PWM output
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* Library for PWM output limiting
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*
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Julian Oes <julian@px4.io>
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*/
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#include "pwm_limit.h"
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@ -46,6 +45,8 @@
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#include <drivers/drv_hrt.h>
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#include <stdio.h>
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#define PROGRESS_INT_SCALING 10000
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void pwm_limit_init(pwm_limit_t *limit)
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{
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limit->state = PWM_LIMIT_STATE_INIT;
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@ -112,7 +113,11 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
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{
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hrt_abstime diff = hrt_elapsed_time(&limit->time_armed);
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progress = diff * 10000 / RAMP_TIME_US;
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progress = diff * PROGRESS_INT_SCALING / RAMP_TIME_US;
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if (progress > PROGRESS_INT_SCALING) {
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progress = PROGRESS_INT_SCALING;
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}
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for (unsigned i=0; i<num_channels; i++) {
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@ -128,7 +133,7 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
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}
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unsigned disarmed_min_diff = min_pwm[i] - disarmed;
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ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / 10000;
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ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / PROGRESS_INT_SCALING;
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} else {
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@ -1,7 +1,6 @@
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/****************************************************************************
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*
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* Copyright (C) 2013 PX4 Development Team. All rights reserved.
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* Author: Julian Oes <joes@student.ethz.ch>
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* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@ -33,11 +32,11 @@
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****************************************************************************/
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/**
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* @file pwm_limit.h
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* @file pwm_limit.c
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*
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* Lib to limit PWM output
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* Library for PWM output limiting
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*
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* @author Julian Oes <joes@student.ethz.ch>
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* @author Julian Oes <julian@px4.io>
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*/
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#ifndef PWM_LIMIT_H_
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