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SRV_Channel: limit pwm_from_angle return to +/-high_out

mission-4.1.18
Pierre Kancir 8 years ago committed by Andrew Tridgell
parent
f725e9f2b5
commit
67e79a30e8
1 changed files with 2 additions and 6 deletions
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  1. 8
      libraries/SRV_Channel/SRV_Channel.cpp

8
libraries/SRV_Channel/SRV_Channel.cpp
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@ -87,12 +87,7 @@ uint16_t SRV_Channel::pwm_from_range(int16_t scaled_value) const
if (servo_max <= servo_min || high_out == 0) { if (servo_max <= servo_min || high_out == 0) {
return servo_min; return servo_min;
} }
if (scaled_value >= high_out) { scaled_value = constrain_int16(scaled_value, 0, high_out);
scaled_value = high_out;
}
if (scaled_value < 0) {
scaled_value = 0;
}
if (reversed) { if (reversed) {
scaled_value = high_out - scaled_value; scaled_value = high_out - scaled_value;
} }
@ -105,6 +100,7 @@ uint16_t SRV_Channel::pwm_from_angle(int16_t scaled_value) const
if (reversed) { if (reversed) {
scaled_value = -scaled_value; scaled_value = -scaled_value;
} }
scaled_value = constrain_int16(scaled_value, -high_out, high_out);
if (scaled_value > 0) { if (scaled_value > 0) {
return servo_trim + ((int32_t)scaled_value * (int32_t)(servo_max - servo_trim)) / (int32_t)high_out; return servo_trim + ((int32_t)scaled_value * (int32_t)(servo_max - servo_trim)) / (int32_t)high_out;
} else { } else {

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