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Scale R/C inputs around the preset center, not the nominal center.

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px4dev
2013-02-24 15:56:02 -08:00
parent 345b1a0915
commit 6ac7e8b7e4
1 changed files with 2 additions and 3 deletions
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apps/px4io/controls.c
+2 -3
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@@ -119,7 +119,6 @@ controls_tick() {
ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS); ASSERT(r_raw_rc_count <= MAX_CONTROL_CHANNELS);
/* /*
* In some cases we may have received a frame, but input has still * In some cases we may have received a frame, but input has still
* been lost. * been lost.
@@ -168,8 +167,8 @@ controls_tick() {
int16_t scaled = raw; int16_t scaled = raw;
/* adjust to zero-relative (-500..500) */ /* adjust to zero-relative around center */
scaled -= 1500; scaled -= conf[PX4IO_P_RC_CONFIG_CENTER];
/* scale to fixed-point representation (-10000..10000) */ /* scale to fixed-point representation (-10000..10000) */
scaled *= 20; scaled *= 20;