diff options
Diffstat (limited to 'src/generic.c')
| -rw-r--r-- | src/generic.c | 41 |
1 files changed, 26 insertions, 15 deletions
diff --git a/src/generic.c b/src/generic.c index bf01e79..f81d86a 100644 --- a/src/generic.c +++ b/src/generic.c @@ -2,16 +2,24 @@ #include <stdio.h> #define CHANNEL_THROTTLE 0 +#define CHANNEL_ATTITUDE_OFFSET 1 -#define THROTTLE_MIN 1000 +#define THROTTLE_MIN 500 #define THROTTLE_MAX 2000 +#define THROTTLE_STEP_SMALL 10 +#define THROTTLE_STEP_LARGE 100 -//convert the value from an axis to an appropriate ppm value -//between 1000 and 2000 -inline channel_t axis_to_channel(int value) { +#define ATTITUDE_MIN 1000 +#define ATTITUDE_MAX 2000 + +/* + * convert the value from an axis to an appropriate ppm value + * between 1000 and 2000 + */ +inline channel_t axis_to_attitude(int value) { long centered = (long) value - AXIS_MIN; - long proportional = centered * 1000 / (AXIS_MAX - AXIS_MIN); - return (channel_t) 1000 + proportional; + long proportional = centered * ATTITUDE_MIN / (AXIS_MAX - AXIS_MIN); + return (channel_t) ATTITUDE_MAX - ATTITUDE_MIN + proportional; } void channel_reset(channel_t* channels) { @@ -19,14 +27,16 @@ void channel_reset(channel_t* channels) { channels[i] = CHANNEL_UNUSED; } channels[0] = THROTTLE_MIN; - channels[1] = 1500; - channels[2] = 1500; - channels[3] = 1500; - channels[4] = 1500; + channels[1] = ATTITUDE_MIN; + channels[2] = ATTITUDE_MIN; + channels[3] = ATTITUDE_MIN; + channels[4] = ATTITUDE_MIN; } + void event_axis(channel_t* channels, int axis, int value) { - channels[axis+1] = axis_to_channel(value); + channels[CHANNEL_ATTITUDE_OFFSET+axis] = axis_to_attitude(value); } + void event_button(channel_t* channels, int button, bool value) { if (value) { switch(button) { @@ -34,18 +44,19 @@ void event_button(channel_t* channels, int button, bool value) { channel_reset(channels); break; case 4: - channel_step(channels, CHANNEL_THROTTLE, -10, THROTTLE_MIN, THROTTLE_MAX); + channel_step(channels, CHANNEL_THROTTLE, -THROTTLE_STEP_SMALL, THROTTLE_MIN, THROTTLE_MAX); break; case 5: - channel_step(channels, CHANNEL_THROTTLE, 10, THROTTLE_MIN, THROTTLE_MAX); + channel_step(channels, CHANNEL_THROTTLE, THROTTLE_STEP_SMALL, THROTTLE_MIN, THROTTLE_MAX); break; case 6: - channel_step(channels, CHANNEL_THROTTLE, -100, THROTTLE_MIN, THROTTLE_MAX); + channel_step(channels, CHANNEL_THROTTLE, -THROTTLE_STEP_LARGE, THROTTLE_MIN, THROTTLE_MAX); break; case 7: - channel_step(channels, CHANNEL_THROTTLE, 100, THROTTLE_MIN, THROTTLE_MAX); + channel_step(channels, CHANNEL_THROTTLE, THROTTLE_STEP_LARGE, THROTTLE_MIN, THROTTLE_MAX); break; default: + printf("button unsupported %d\n", button); break; } } |