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scale instead of chop RC values

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Gautier Hattenberger
2012-03-14 19:19:54 +01:00
parent 23e6523c0b
commit 69d2909d01
1 changed files with 1 additions and 1 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+1 -1
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@@ -95,7 +95,7 @@ void guidance_v_init(void) {
void guidance_v_read_rc(void) {
// used in RC_DIRECT directly and as saturation in CLIMB and HOVER
guidance_v_rc_delta_t = Chop(((int32_t)radio_control.values[RADIO_THROTTLE]), SUPERVISION_MIN_MOTOR, SUPERVISION_MAX_MOTOR);
guidance_v_rc_delta_t = (int32_t)radio_control.values[RADIO_THROTTLE] * (SUPERVISION_MAX_MOTOR - SUPERVISION_MIN_MOTOR) / MAX_PPRZ;
// used in RC_CLIMB
guidance_v_rc_zd_sp = ((MAX_PPRZ/2) - (int32_t)radio_control.values[RADIO_THROTTLE]) * GUIDANCE_V_RC_CLIMB_COEF;
DeadBand(guidance_v_rc_zd_sp, GUIDANCE_V_RC_CLIMB_DEAD_BAND);