int16_t RC_Channel::get_control_in_zero_dz(void)
{
if (type_in == RC_CHANNEL_TYPE_RANGE) {
return pwm_to_range_dz(0);
}
return pwm_to_angle_dz(0);
}
// recompute control values with no deadzone
// When done this way the control_in value can be used as servo_out
// to give the same output as input
void
RC_Channel::recompute_pwm_no_deadzone()
{
if (type_in == RC_CHANNEL_TYPE_RANGE) {
control_in = pwm_to_range_dz(0);
} else {
//RC_CHANNEL_ANGLE
control_in = pwm_to_angle_dz(0);
}
}
// read input from APM_RC - create a control_in value, but use a
// zero value for the dead zone. When done this way the control_in
// value can be used as servo_out to give the same output as input
void
RC_Channel::set_pwm_no_deadzone(int16_t pwm)
{
radio_in = pwm;
if (_type == RC_CHANNEL_TYPE_RANGE) {
control_in = pwm_to_range_dz(0);
} else {
//RC_CHANNEL_ANGLE, RC_CHANNEL_ANGLE_RAW
control_in = pwm_to_angle_dz(0);
}
}
/*
return an "angle in centidegrees" (normally -4500 to 4500) from
the current radio_in value
*/
int16_t
RC_Channel::pwm_to_angle()
{
return pwm_to_angle_dz(_dead_zone);
}
/*
return an "angle in centidegrees" (normally -4500 to 4500) from
the current radio_in value
*/
int16_t
RC_Channel::pwm_to_angle() const
{
return pwm_to_angle_dz(dead_zone);
}
