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rescale deadbanded values to original range (#6925)

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Alexander van Saase 2021-05-11 16:11:03 +02:00 • committed by GitHub
parent 004b3eab7c
commit 11d543f950
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6 changed files with 21 additions and 8 deletions
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8
src/main/navigation/navigation_fixedwing.c
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@ -106,7 +106,7 @@ void resetFixedWingAltitudeController(void)
bool adjustFixedWingAltitudeFromRCInput(void)
{
int16_t rcAdjustment = applyDeadband(rcCommand[PITCH], rcControlsConfig()->alt_hold_deadband);
int16_t rcAdjustment = applyDeadbandRescaled(rcCommand[PITCH], rcControlsConfig()->alt_hold_deadband, -500, 500);
if (rcAdjustment) {
// set velocity proportional to stick movement
@ -281,7 +281,7 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
// Shift position according to pilot's ROLL input (up to max_manual_speed velocity)
if (posControl.flags.isAdjustingPosition) {
int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
int16_t rcRollAdjustment = applyDeadbandRescaled(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband, -500, 500);
if (rcRollAdjustment) {
float rcShiftY = rcRollAdjustment * navConfig()->general.max_manual_speed / 500.0f * trackingPeriod;
@ -295,7 +295,7 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
bool adjustFixedWingPositionFromRCInput(void)
{
int16_t rcRollAdjustment = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
int16_t rcRollAdjustment = applyDeadbandRescaled(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband, -500, 500);
return (rcRollAdjustment);
}
@ -650,7 +650,7 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
}
if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && posControl.flags.isAdjustingPosition)
rcCommand[ROLL] = applyDeadband(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband);
rcCommand[ROLL] = applyDeadbandRescaled(rcCommand[ROLL], rcControlsConfig()->pos_hold_deadband, -500, 500);
//if (navStateFlags & NAV_CTL_YAW)
if ((navStateFlags & NAV_CTL_ALT) || (navStateFlags & NAV_CTL_POS))