rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-11-29 07:24:13 +01:00
Code Issues Releases Activity

Subtract deadband offset from then input to still have fine control

Browse Source
This commit is contained in:
Oleg Semyonov 2012-02-18 10:21:51 +02:00
parent 5a2119b896
commit c721d001c0
1 changed files with 7 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
flight/Modules/ManualControl/manualcontrol.c
View File

@ -88,7 +88,7 @@ static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutr
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
static bool okToArm(void);
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
static void applyDeadband (float *value, float deadband);
static void applyDeadband(float *value, float deadband);
#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 10
@ -832,10 +832,15 @@ bool validInputRange(int16_t min, int16_t max, uint16_t value)
/**
* @brief Apply deadband to Roll/Pitch/Yaw channels
*/
static void applyDeadband (float *value, float deadband)
static void applyDeadband(float *value, float deadband)
{
if (fabs(*value) < deadband)
*value = 0.0f;
else
if (*value > 0.0f)
*value -= deadband;
else
*value += deadband;
}
/**