Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 20:35:33 +03:00
Code Issues Wiki Activity

Handle channel boundaries better.

Browse source 
More efficient, less code, easier to understand.
This commit is contained in:
Dominic Clifton 2014-10-12 18:31:40 +01:00
parent 2369a63df0
commit b43fa247de
3 changed files with 10 additions and 20 deletions
Download patch file Download diff file Expand all files Collapse all files

18
src/main/io/rc_controls.c
View file

@ -233,18 +233,6 @@ void updateRcOptions(modeActivationCondition_t *modeActivationConditions)
rcModeActivationMask = 0; // FIXME implement, use rcData & modeActivationConditions
uint8_t index;
uint8_t auxChannelSteps[MAX_AUX_CHANNEL_COUNT];
for (index = 0; index < MAX_AUX_CHANNEL_COUNT; index++) {
uint16_t channelValue = rcData[index + NON_AUX_CHANNEL_COUNT];
uint16_t normalizedChannelValue = (constrain(channelValue, 900, 2100) - 900);
auxChannelSteps[index] = normalizedChannelValue / 25;
if (normalizedChannelValue > 0 && normalizedChannelValue % 25 == 0) {
auxChannelSteps[index]--;
}
printf("%d\n", auxChannelSteps[index]);
}
for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index];
@ -254,9 +242,9 @@ void updateRcOptions(modeActivationCondition_t *modeActivationConditions)
continue;
}
uint8_t auxChannelStep = auxChannelSteps[modeActivationCondition->auxChannelIndex];
if (auxChannelStep >= modeActivationCondition->rangeStartStep &&
auxChannelStep < modeActivationCondition->rangeEndStep) {
uint16_t channelValue = constrain(rcData[modeActivationCondition->auxChannelIndex + NON_AUX_CHANNEL_COUNT], CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX - 1);
if (channelValue >= 900 + (modeActivationCondition->rangeStartStep * 25) &&
channelValue < 900 + (modeActivationCondition->rangeEndStep * 25)) {
ACTIVATE_RC_MODE(modeActivationCondition->modeId);
}
}