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Code Issues Wiki Activity

Merge branch 'rc-calibration' of

Browse source 
https://github.com/digitalentity/cleanflight into
digitalentity-rc-calibration

Conflicts:
	docs/Rx.md
	src/main/io/serial_cli.c
	src/main/rx/rx.c
	src/main/rx/rx.h
This commit is contained in:
Dominic Clifton 2015-08-04 00:06:12 +01:00
commit 27f8223de7
10 changed files with 300 additions and 5 deletions
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20
src/main/rx/rx.c
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@ -339,7 +339,20 @@ static uint16_t getRxfailValue(uint8_t channel)
}
static void processRxChannels(void)
STATIC_UNIT_TESTED uint16_t applyRxCalibration(int sample, int minrc, int maxrc)
{
// Check special condition sample = PPM_RCVR_TIMEOUT, allow no signal value to avoid being corrupted by calibration
if (sample == 0) {
return 0;
}
sample = scaleRange(sample, minrc, maxrc, PWM_RANGE_MIN, PWM_RANGE_MAX);
sample = MIN(MAX(PWM_PULSE_MIN, sample), PWM_PULSE_MAX);
return sample;
}
void processRxChannels(void)
{
uint8_t chan;
@ -361,6 +374,11 @@ static void processRxChannels(void)
// sample the channel
uint16_t sample = rcReadRawFunc(&rxRuntimeConfig, rawChannel);
// apply the rx calibration
if (chan < MAX_CALIBRATED_RX_CHANNELS) {
sample = applyRxCalibration(sample, rxConfig->calibration[chan].minrc, rxConfig->calibration[chan].maxrc);
}
rxUpdateFlightChannelStatus(chan, sample);
if (sample < rxConfig->rx_min_usec || sample > rxConfig->rx_max_usec || !rxSignalReceived) {