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author | Julian Oes <julian@oes.ch> | 2013-10-07 18:03:05 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2013-10-07 18:03:05 +0200 |
commit | 19879432ad6cf709af25192401829719defd2983 (patch) | |
tree | 567bda3cb54df9c177ac1d2e47ece0c30ba03bce /src/modules/px4iofirmware | |
parent | 03edf901617c5f5785ef7d78d8fa74e2bfdd45fc (diff) | |
download | px4-firmware-19879432ad6cf709af25192401829719defd2983.tar.gz px4-firmware-19879432ad6cf709af25192401829719defd2983.tar.bz2 px4-firmware-19879432ad6cf709af25192401829719defd2983.zip |
Trying to get rid of magic PWM numbers
Diffstat (limited to 'src/modules/px4iofirmware')
-rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 4 | ||||
-rw-r--r-- | src/modules/px4iofirmware/registers.c | 30 |
2 files changed, 17 insertions, 17 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index 350b93488..352b93e85 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -242,8 +242,8 @@ mixer_tick(void) case ESC_RAMP: r_page_servos[i] = (outputs[i] - * (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*2100 - ramp_promille*r_page_servo_control_min[i] - (1000-ramp_promille)*900)/2/1000 - + (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*2100 + ramp_promille*r_page_servo_control_min[i] + (1000-ramp_promille)*900)/2/1000); + * (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*PWM_MAX - ramp_promille*r_page_servo_control_min[i] - (1000-ramp_promille)*PWM_MIN)/2/1000 + + (ramp_promille*r_page_servo_control_max[i] + (1000-ramp_promille)*PWM_MAX + ramp_promille*r_page_servo_control_min[i] + (1000-ramp_promille)*PWM_MIN)/2/1000); break; case ESC_ON: diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c index 9d3c5ccfd..30e6f7de2 100644 --- a/src/modules/px4iofirmware/registers.c +++ b/src/modules/px4iofirmware/registers.c @@ -207,7 +207,7 @@ uint16_t r_page_servo_failsafe[PX4IO_SERVO_COUNT] = { 0 }; * minimum PWM values when armed * */ -uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 }; +uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN, PWM_MIN }; /** * PAGE 107 @@ -215,7 +215,7 @@ uint16_t r_page_servo_control_min[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 90 * maximum PWM values when armed * */ -uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100, 2100, 2100, 2100, 2100 }; +uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX, PWM_MAX }; /** * PAGE 108 @@ -223,7 +223,7 @@ uint16_t r_page_servo_control_max[PX4IO_SERVO_COUNT] = { 2100, 2100, 2100, 2100 * disarmed PWM values for difficult ESCs * */ -uint16_t r_page_servo_disarmed[PX4IO_SERVO_COUNT] = { 900, 900, 900, 900, 900, 900, 900, 900 }; +uint16_t r_page_servo_disarmed[PX4IO_SERVO_COUNT] = { 0, 0, 0, 0, 0, 0, 0, 0 }; int registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num_values) @@ -295,10 +295,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num if (*values == 0) { /* ignore 0 */ - } else if (*values > 1200) { - r_page_servo_control_min[offset] = 1200; - } else if (*values < 900) { - r_page_servo_control_min[offset] = 900; + } else if (*values > PWM_HIGHEST_MIN) { + r_page_servo_control_min[offset] = PWM_HIGHEST_MIN; + } else if (*values < PWM_MIN) { + r_page_servo_control_min[offset] = PWM_MIN; } else { r_page_servo_control_min[offset] = *values; } @@ -316,10 +316,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num if (*values == 0) { /* ignore 0 */ - } else if (*values > 2100) { - r_page_servo_control_max[offset] = 2100; - } else if (*values < 1800) { - r_page_servo_control_max[offset] = 1800; + } else if (*values > PWM_MAX) { + r_page_servo_control_max[offset] = PWM_MAX; + } else if (*values < PWM_LOWEST_MAX) { + r_page_servo_control_max[offset] = PWM_LOWEST_MAX; } else { r_page_servo_control_max[offset] = *values; } @@ -337,10 +337,10 @@ registers_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned num if (*values == 0) { /* ignore 0 */ - } else if (*values < 900) { - r_page_servo_disarmed[offset] = 900; - } else if (*values > 2100) { - r_page_servo_disarmed[offset] = 2100; + } else if (*values < PWM_MIN) { + r_page_servo_disarmed[offset] = PWM_MIN; + } else if (*values > PWM_MAX) { + r_page_servo_disarmed[offset] = PWM_MAX; } else { r_page_servo_disarmed[offset] = *values; } |