SRV_Channel: fix RCInxScaled when input is range (instead of angle) #25538
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This was referenced Nov 14, 2023
andyp1per
reviewed
Nov 14, 2023
| @@ -60,7 +60,15 @@ void SRV_Channel::output_ch(void) | |||
| int16_t radio_in = c->get_radio_in(); | |||
| if (passthrough_mapped) { | |||
| if (rc().has_valid_input()) { | |||
| radio_in = pwm_from_angle(c->norm_input_dz() * 4500); | |||
| switch (c->get_type()) { | |||
| case RC_Channel::ControlType::ANGLE: | |||
There was a problem hiding this comment.
I feel like this should also be the default rather thank falling through
There was a problem hiding this comment.
Thanks very much for the feedback. I guess you mean that maybe we should move this new code up to line 60 where "radio_in" is first set? This crossed my mind as well but that would affect the simpler SERVOx_FUNCTION=RCINx (e.g. non-scaled) case which really does just simply pass through a PWM from input to output.
tridge
approved these changes
Nov 15, 2023
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This resolves a bug in the servo output when the SERVOx_FUNCTION = RCInXScaled and the RCInput is a range instead of an angle. For example on Copter the problem occurs when RCx_FUNCTION = RCIn3Scaled.. Details of the issue are explained in issue #25524 and is also discussed here.
In current master the PWM output will always be between SERVOx_TRIM (e.g. 1500) and SERVOx_MAX (e.g. 2000). After this change the PWM output is correctly in the SERVOx_MIN (e.g. 1000) to SERVOx_MAX (e.g. 2000) range.
I've tested this fairly carefully including before and after tests.
I've also tested that the failsafe behaviour is unchanged. Namely in case of an RC failsafe, the PWM output stays unchanged OR moves to SERVOx_TRIM depending upon the SERVO_RC_FS_MSK parameter bits.
The above tests were done with these parameters