Sub: Constrain camera tilt goal to servo output limits

ArduSub/joystick.cpp

@@ -8,8 +8,8 @@
 // Anonymous namespace to hold variables used only in this file
 namespace {
 	int16_t mode = 1100;
-	int16_t cam_tilt = 1500;
-	int16_t cam_tilt_goal = 1500;
+	float cam_tilt = 1500.0;
+	float cam_tilt_goal = 1500.0;
 	float cam_tilt_alpha = 0.97;
 	int16_t lights1 = 1100;
 	int16_t lights2 = 1100;
@@ -131,11 +131,35 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held) {
 		case JSButton::button_function_t::k_mount_center:
 			cam_tilt_goal = 1500;
 			break;
-		case JSButton::button_function_t::k_mount_tilt_up:
-			cam_tilt_goal = constrain_float(cam_tilt_goal-g.cam_tilt_step,800,2200);
+		case JSButton::button_function_t::k_mount_tilt_up: {
+			uint8_t i;
+
+			// Find the first aux channel configured as mount tilt, if any
+			if(RC_Channel_aux::find_channel(RC_Channel_aux::k_mount_tilt, i)) {
+
+				// Get the channel output limits
+				RC_Channel *ch = RC_Channel::rc_channel(i);
+				uint16_t min = ch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN);
+				uint16_t max = ch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX);
+
+				cam_tilt_goal = constrain_int16(cam_tilt_goal-g.cam_tilt_step,min,max);
+			}
+		}
 			break;
-		case JSButton::button_function_t::k_mount_tilt_down:
-			cam_tilt_goal = constrain_float(cam_tilt_goal+g.cam_tilt_step,800,2200);
+		case JSButton::button_function_t::k_mount_tilt_down: {
+			uint8_t i;
+
+			// Find the first aux channel configured as mount tilt, if any
+			if(RC_Channel_aux::find_channel(RC_Channel_aux::k_mount_tilt, i)) {
+
+				// Get the channel output limits
+				RC_Channel *ch = RC_Channel::rc_channel(i);
+				uint16_t min = ch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MIN);
+				uint16_t max = ch->get_limit_pwm(RC_Channel::RC_CHANNEL_LIMIT_MAX);
+
+				cam_tilt_goal = constrain_int16(cam_tilt_goal+g.cam_tilt_step,min,max);
+			}
+		}
 			break;
 		case JSButton::button_function_t::k_camera_trigger:
 			break;