Diff: main.cpp

Revision:

5:9cad4ce807b9

Parent:

4:7d2eae0115a2

Child:

6:2cba569272fe

--- a/main.cpp	Thu Jan 21 09:04:24 2021 +0000
+++ b/main.cpp	Thu Jan 21 09:09:57 2021 +0000
@@ -13,7 +13,7 @@
   return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
 }
 
-int ch1, ch2, ch1_b, ch2_b;
+int ch1, ch2;
 float rc1, rc2;
 int out1, out2;
 
@@ -22,12 +22,15 @@
     led1 = !led1;
     if(sbus.failSafe == false)
     {
-        ch1_b = ch1;
-        ch2_b = ch2;
+
         ch1 = int(sbus.getData(1));
         ch2 = int(sbus.getData(2));
         pc.printf("ch1 :%d\r\n", ch1);
         pc.printf("ch2 :%d\r\n", ch1);
+        float LP_rc = 0.65;
+        float LP_rc3 = 0.15;
+        rc1 = LP_rc*float(map(ch1,368,1680,-1000,1000))/1000.0+(1.0-LP_rc)*rc1;
+        rc2 = LP_rc*float(map(ch2,368,1680,-1000,1000))/1000.0+(1.0-LP_rc)*rc2;
         pc.printf("rc1 :%f\r\n", rc1);
         pc.printf("rc2 :%f\r\n", rc1);
         int pwmMax = 1800;