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Sensors: Use correct ranges for mode slots

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Lorenz Meier
2016-03-06 12:34:07 +01:00
parent ffd24e8cf0
commit 2e5a41e8c9
1 changed files with 7 additions and 4 deletions
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src/modules/sensors/sensors.cpp
+7 -4
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@@ -1897,11 +1897,14 @@ Sensors::rc_poll()
if (_parameters.rc_map_flightmode > 0) {
const unsigned slot_min = 1000;
const unsigned slot_max = 2000;
const unsigned num_slots = 6;
const float slot_min = -1.0f;
const float slot_max = 1.0f;
/* the number of valid slots is one less than the max marker */
const unsigned num_slots = manual_control_setpoint_s::MODE_SLOT_MAX - 1;
/* we need the maximum index below, not the number of slots, so slots - 1 */
const unsigned max_index = num_slots - 1;
manual.mode_slot = ((_rc.channels[_parameters.rc_map_flightmode - 1] - slot_min) * num_slots) / (slot_max - slot_min);
manual.mode_slot = ((_rc.channels[_parameters.rc_map_flightmode - 1] - slot_min) * max_index) / (slot_max - slot_min);
} else {
/* mode switches */