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SRV_Channel: fix RCInxScaled when input is range (instead of angle) #25538

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Nov 15, 2023
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SRV_Channel: fix RCInxScaled when input is range (instead of angle) #25538

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10 changes: 9 additions & 1 deletion libraries/SRV_Channel/SRV_Channel_aux.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
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I feel like this should also be the default rather thank falling through

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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.

radio_in = pwm_from_angle(c->norm_input_dz() * 4500);
break;
case RC_Channel::ControlType::RANGE:
// convert RC normalised input from -1 to +1 range to 0 to +1 and output as range
radio_in = pwm_from_range((c->norm_input_ignore_trim() + 1.0) * 0.5 * 4500);
break;
}
} else {
// no valid input. If we are in radio
// failsafe then go to trim values (if
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