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change trim units from absolute usec to normalized values

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This commit is contained in:
Mark Whitehorn
2016-12-10 12:56:39 +01:00
committed by Lorenz Meier
parent d8528f46ce
commit dbc149c224
11 changed files with 48 additions and 51 deletions
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src/modules/systemlib/pwm_limit/pwm_limit.c
+1 -9
View File
@@ -56,7 +56,7 @@ void pwm_limit_init(pwm_limit_t *limit)
}
void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_channels, const uint16_t reverse_mask,
const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm, const uint16_t *trim_pwm,
const uint16_t *disarmed_pwm, const uint16_t *min_pwm, const uint16_t *max_pwm,
const float *output, uint16_t *effective_pwm, pwm_limit_t *limit)
{
@@ -207,16 +207,8 @@ 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;
// } 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]) {
effective_pwm[i] = min_pwm[i];
src/modules/systemlib/pwm_limit/pwm_limit.h
+1 -1
View File
@@ -73,7 +73,7 @@ __EXPORT void pwm_limit_init(pwm_limit_t *limit);
__EXPORT void pwm_limit_calc(const bool armed, const bool pre_armed, const unsigned num_channels,
const uint16_t reverse_mask, const uint16_t *disarmed_pwm,
const uint16_t *min_pwm, const uint16_t *max_pwm, const uint16_t *trim_pwm,
const uint16_t *min_pwm, const uint16_t *max_pwm,
const float *output, uint16_t *effective_pwm, pwm_limit_t *limit);
__END_DECLS