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Code Issues Releases Activity

Flight/ManualControl Added support for reversing inputs

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@685 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-05-30 01:58:15 +00:00 committed by vassilis
parent c22804e90a
commit 6414887dcc
1 changed files with 17 additions and 3 deletions
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20
flight/OpenPilot/Modules/ManualControl/manualcontrol.c
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@ -192,13 +192,27 @@ static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutr
{
float valueScaled;
// Scale
if ( value >= neutral)
if ( (max > min && value >= neutral) || (min > max && value <= neutral) )
{
valueScaled = (float)(value-neutral)/(float)(max-neutral);
if ( max != neutral )
{
valueScaled = (float)(value-neutral)/(float)(max-neutral);
}
else
{
valueScaled = 0;
}
}
else
{
valueScaled = (float)(value-neutral)/(float)(neutral-min);
if ( min != neutral )
{
valueScaled = (float)(value-neutral)/(float)(neutral-min);
}
else
{
valueScaled = 0;
}
}
// Bound
if ( valueScaled > 1.0 )