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fix argument order in pwm_limit_calc call, clean up

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note that FMU does not update AUX pwm outputs if no RC signal
This commit is contained in:
Mark Whitehorn
2016-11-06 11:39:32 -07:00
committed by Lorenz Meier
parent f3c3d1f7f9
commit 009a413438
4 changed files with 30 additions and 15 deletions
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src/modules/systemlib/mixer/mixer_group.cpp
+8 -1
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@@ -119,7 +119,13 @@ MixerGroup::set_trims(uint16_t *values, unsigned n)
unsigned index = 0;
while ((mixer != nullptr) && (index < n)) {
/* hardwired assumption that PWM output range is [1000, 2000] usec */
/*
* hardwired assumption that PWM output range is [1000, 2000] usec
*
* This only works with SimpleMixer::set_trim(float) which always returns the value one,
* but the only other existing implementation is MultirotorMixer, which ignores
* the trim value.
*/
float offset = ((float)values[index] - 1500) / 500;
/* to be safe, clamp offset to range of [-100, 100] usec */
@@ -127,6 +133,7 @@ MixerGroup::set_trims(uint16_t *values, unsigned n)
if (offset > 0.2f) { offset = 0.2f; }
debug("set trim: %d, offset: %5.3f", values[index], (double)offset);
index += mixer->set_trim(offset);
mixer = mixer->_next;
}