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Fix mode switching

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Lorenz Meier
2016-03-13 11:49:27 +01:00
parent f7640f02ad
commit 6bcf38c4bb
1 changed files with 5 additions and 5 deletions
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src/modules/sensors/sensors.cpp
+5 -5
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@@ -1897,15 +1897,15 @@ Sensors::rc_poll()
if (_parameters.rc_map_flightmode > 0) {
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) * max_index) / (slot_max - slot_min);
/* min is -1, max is +1, range is 2. We offset below min and max */
const float slot_min = -1.0f - 2.0f / num_slots / 2.0f;
const float slot_max = 1.0f + 2.0f / num_slots / 2.0f;
manual.mode_slot = (((_rc.channels[_parameters.rc_map_flightmode - 1] - slot_min) * num_slots) /
(slot_max - slot_min)) + 1 / num_slots;
}
/* mode switches */