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Use constrain instead of duplicating this code

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This commit is contained in:
Marcelo Bezerra 2024-06-08 19:06:33 +02:00
parent ca494d1d72
commit 0f2eedaf7d
1 changed files with 3 additions and 15 deletions
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18
src/main/io/gimbal_serial.c
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@ -151,29 +151,17 @@ void gimbalSerialProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTime)
if (rxAreFlightChannelsValid() && !IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)) { if (rxAreFlightChannelsValid() && !IS_RC_MODE_ACTIVE(BOXGIMBALCENTER)) {
if (cfg->panChannel > 0) { if (cfg->panChannel > 0) {
yaw = rxGetChannelValue(cfg->panChannel - 1); yaw = rxGetChannelValue(cfg->panChannel - 1);
if (yaw < 1050) { yaw = constrain(yaw, 1000, 2000);
yaw = 1050;
} else if (yaw > 1950) {
yaw = 1950;
}
} }
if (cfg->tiltChannel > 0) { if (cfg->tiltChannel > 0) {
pitch = rxGetChannelValue(cfg->tiltChannel - 1); pitch = rxGetChannelValue(cfg->tiltChannel - 1);
if (pitch < 1050) { pitch = constrain(pitch, 1000, 2000);
pitch = 1050;
} else if (pitch > 1950) {
pitch = 1950;
}
} }
if (cfg->rollChannel > 0) { if (cfg->rollChannel > 0) {
roll = rxGetChannelValue(cfg->rollChannel - 1); roll = rxGetChannelValue(cfg->rollChannel - 1);
if (roll < 1050) { roll = constrain(roll, 1000, 2000);
roll = 1050;
} else if (roll > 1950) {
roll = 1950;
}
} }
} }