solaESKF_EIGEN
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: servo.cpp
- Revision:
- 76:7fd3ac1afe3e
- Parent:
- 73:84ffa0166e6c
- Child:
- 77:2bf856e3eca4
--- a/servo.cpp Tue Jul 20 11:57:05 2021 +0000 +++ b/servo.cpp Sat Aug 07 06:54:58 2021 +0000 @@ -3,10 +3,15 @@ // 割り込まれた時点での出力(computeの結果)を返す関数 void calcServoOut() { - // sbusデータの読み込み - - for (int i =0 ; i < 16;i ++){ - rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input + if(serialControlSource){ + for(int i = 0;i<4;i++){ + rc[i] = float(vp.actData[i])/1000.0f; + } + }else{ + // sbusデータの読み込み + for (int i =0 ; i < 16;i ++){ + rc[i] = 0.65f * mapfloat(float(sbus.getData(i)),368,1680,-1,1) + (1.0f - 0.65f) * rc[i]; // mapped input + } } //rc[1] = joystick.getX();