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Added a common deadband conversion code

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Modified protocols:
 - GD00X applied on aileron
 - KF606 applied on aileron
 - POTENSIC applied on throttle
This commit is contained in:
Pascal Langer
2019-07-03 17:39:05 +02:00
parent e4992bc917
commit 8aea9aa3dd
6 changed files with 26 additions and 17 deletions
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3
Multiprotocol/POTENSIC_nrf24l01.ino
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@@ -44,7 +44,8 @@ static void __attribute__((unused)) POTENSIC_send_packet()
else
{
packet[0] = 0x64;
packet[1] = convert_channel_16b_limit(THROTTLE,0,100)&0xFE;
// Deadband is needed on throttle to emulate the spring to neutral otherwise the quad behaves weirdly, 160 gives +-20%
packet[1] = convert_channel_8b_limit_deadband(THROTTLE,0x00,0x19,0x32,160)<<1; // Throttle 00..19..32 *2
uint8_t elevator=convert_channel_8b(ELEVATOR)>>3;
packet[2] = ((255-convert_channel_8b(RUDDER))&0xF8)|(elevator>>2);
packet[3] = (elevator<<6)|(((255-convert_channel_8b(AILERON))>>2)&0xFE);