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use trim values to set mixer:scaler.offset

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clamp mixer output offset to [-.2,.2] ([-2000, 2000] in mixer file)

add 8 main PWM trim parameters

add long desc to parameters and bump minor parameter version
This commit is contained in:
Mark Whitehorn
2016-12-10 12:56:39 +01:00
committed by Lorenz Meier
parent 619efa7b45
commit a0c8a78a14
8 changed files with 181 additions and 9 deletions
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src/modules/systemlib/pwm_limit/pwm_limit.c
+8 -8
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@@ -206,15 +206,15 @@ void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_c
control_value = -1.0f * control_value;
}
if (trim_pwm[i] == 0) {
effective_pwm[i] = control_value * (max_pwm[i] - min_pwm[i]) / 2 + (max_pwm[i] + min_pwm[i]) / 2;
// if (trim_pwm[i] == 0) {
effective_pwm[i] = control_value * (max_pwm[i] - min_pwm[i]) / 2 + (max_pwm[i] + min_pwm[i]) / 2;
} else if (control_value < 0) {
effective_pwm[i] = control_value * (trim_pwm[i] - min_pwm[i]) + trim_pwm[i];
} else {
effective_pwm[i] = control_value * (max_pwm[i] - trim_pwm[i]) + trim_pwm[i];
}
// } else if (control_value < 0) {
// effective_pwm[i] = control_value * (trim_pwm[i] - min_pwm[i]) + trim_pwm[i];
//
// } else {
// effective_pwm[i] = control_value * (max_pwm[i] - trim_pwm[i]) + trim_pwm[i];
// }
/* last line of defense against invalid inputs */
if (effective_pwm[i] < min_pwm[i]) {