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Code Issues Releases Activity

LP-233 Multiply / factor instead of scale

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This commit is contained in:
Laurent Lalanne 2016-05-01 18:28:37 +02:00
parent 49107e4007
commit 78be10ff28
1 changed files with 3 additions and 3 deletions
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6
flight/modules/Actuator/actuator.c
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@ -78,7 +78,7 @@ static int8_t counter;
#define ACTUATOR_ONESHOT125_CLOCK 12000000
#define ACTUATOR_ONESHOT125_PULSE_FACTOR 1.5f
#define ACTUATOR_ONESHOT42_CLOCK 12000000
#define ACTUATOR_ONESHOT42_PULSE_SCALE 2
#define ACTUATOR_ONESHOT42_PULSE_FACTOR 0.5f
#define ACTUATOR_PWM_CLOCK 1000000
// Private types
@ -940,12 +940,12 @@ static bool set_channel(uint8_t mixer_channel, uint16_t value)
uint8_t mode = pinsMode[actuatorSettings.ChannelAddr[mixer_channel]];
switch (mode) {
case ACTUATORSETTINGS_BANKMODE_ONESHOT125:
// Remap 1000-2000 range to 125-250
// Remap 1000-2000 range to 125-250µs
PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value * ACTUATOR_ONESHOT125_PULSE_FACTOR);
break;
case ACTUATORSETTINGS_BANKMODE_ONESHOT42:
// Remap 1000-2000 range to 41,666-83,333µs
PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value / ACTUATOR_ONESHOT42_PULSE_SCALE);
PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value * ACTUATOR_ONESHOT42_PULSE_FACTOR);
break;
default:
PIOS_Servo_Set(actuatorSettings.ChannelAddr[mixer_channel], value);