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Fixed throttle scaling issue, harmonized FMU and IO RC scaling code

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Lorenz Meier
2013-03-07 11:45:23 +01:00
parent c993ba5bbc
commit ff5ca82c75
2 changed files with 32 additions and 17 deletions
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apps/px4io/controls.c
+4 -3
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@@ -164,7 +164,8 @@ controls_tick() {
*
* First normalize to 0..1 range with correct sign (below or above center),
* then scale to 20000 range (if center is an actual center, -10000..10000,
* if center is min 0..20000, if center is max -20000..0).
* if parameters only support half range, scale to 10000 range, e.g. if
* center == min 0..10000, if center == max -10000..0).
*
* As the min and max bounds were enforced in step 1), division by zero
* cannot occur, as for the case of center == min or center == max the if
@@ -173,10 +174,10 @@ controls_tick() {
* DO NOT REMOVE OR ALTER STEP 1!
*/
if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 20000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 20000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
} else {
/* in the configured dead zone, output zero */