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Revert "tiltTarget type"

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This reverts commit fdbd788514.
This commit is contained in:
Raúl Ortega 2020-09-23 20:39:42 +02:00
parent 1e723775b7
commit c53a530e47
2 changed files with 10 additions and 7 deletions
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1
.gitignore vendored
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@ -20,4 +20,3 @@ README.pdf
/Release/ /Release/
/Debug/ /Debug/
/makeall.sh /makeall.sh
src/main/telemetry/mavlink_v1.zip

16
src/main/tracker/main.c
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@ -158,11 +158,12 @@ void servosInit(void);
//EASING //EASING
int16_t _lastTilt; int16_t _lastTilt;
int16_t tilt;
bool _servo_tilt_has_arrived = true; bool _servo_tilt_has_arrived = true;
uint8_t _tilt_pos = 0; uint8_t _tilt_pos = 0;
float _servo_tilt_must_move = -1; float _servo_tilt_must_move = -1;
float easingout = 0.0f; float easingout = 0.0f;
uint8_t tiltTarget = 0; float tiltTarget;
//TIMER/CALIB //TIMER/CALIB
unsigned long time; unsigned long time;
@ -497,7 +498,7 @@ void calcTilt(void) {
targetPosition.distance = 1; targetPosition.distance = 1;
} }
tiltTarget = (uint8_t)toDeg(atan((float)(targetPosition.alt - trackerPosition.alt) / targetPosition.distance)); tiltTarget = toDeg(atan((float)(targetPosition.alt - trackerPosition.alt) / targetPosition.distance));
if (tiltTarget < 0) if (tiltTarget < 0)
tiltTarget = 0; tiltTarget = 0;
@ -508,13 +509,13 @@ void calcTilt(void) {
if(feature(FEATURE_EASING)) { if(feature(FEATURE_EASING)) {
if(_servo_tilt_has_arrived){ if(_servo_tilt_has_arrived){
_servo_tilt_must_move = (float)tiltTarget; _servo_tilt_must_move = tiltTarget;
_servo_tilt_has_arrived = false; _servo_tilt_has_arrived = false;
_tilt_pos = 0; _tilt_pos = 0;
} }
} }
else { else {
pwmTilt = (uint16_t) map((uint16_t)tiltTarget,0,90,masterConfig.tilt0, masterConfig.tilt90); pwmTilt = (uint16_t) map(tiltTarget,0,90,masterConfig.tilt0, masterConfig.tilt90);
pwmWriteServo(masterConfig.tilt_pin,pwmTilt); pwmWriteServo(masterConfig.tilt_pin,pwmTilt);
} }
} }
@ -776,8 +777,11 @@ void updateServoTest(void){
_servo_tilt_must_move = SERVOTEST_TILT; _servo_tilt_must_move = SERVOTEST_TILT;
_servo_tilt_has_arrived = false; _servo_tilt_has_arrived = false;
} }
pwmTilt = map((uint16_t)SERVOTEST_TILT, 0, 90, masterConfig.tilt0, masterConfig.tilt90); else
pwmWriteServo(masterConfig.tilt_pin,pwmTilt); {
tilt = map(SERVOTEST_TILT, 0, 90, masterConfig.tilt0, masterConfig.tilt90);
pwmWriteServo(masterConfig.tilt_pin,tilt);
}
DISABLE_SERVO(SERVOTILT_MOVE); DISABLE_SERVO(SERVOTILT_MOVE);
} }
} }