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This diff has been restricted to the following files: 'stick.c'
# # old_revision [08a35a6680cdf8985cfb16fa6779ee6db7202a9c] # new_revision [dc88787ecd1d574feba045763baed2a7651ff33d] # # patch "stick.c" # from [c994ce958c11d747045e0cd4d6879a1fc4d7b4e5] # to [2f04655a185f179c9e8469822e089c308cb3a220] # ============================================================ --- stick.c c994ce958c11d747045e0cd4d6879a1fc4d7b4e5 +++ stick.c 2f04655a185f179c9e8469822e089c308cb3a220 @@ -15,24 +15,25 @@ #include "status.h" #include "watchdog.h" #include "log.h" +#include "config.h" #define TWO_PI 6.28318531f #define PI 3.14159265f -#define MIN_X 8720 -#define MAX_X 23800 -#define CENTRE_X 16260 +#define MIN_X config.stick.timing.x.min +#define MAX_X config.stick.timing.x.max +#define CENTRE_X config.stick.timing.x.centre -#define MIN_Y 8720 -#define MAX_Y 23800 -#define CENTRE_Y 16260 +#define MIN_Y config.stick.timing.y.min +#define MAX_Y config.stick.timing.y.max +#define CENTRE_Y config.stick.timing.y.centre -#define MIN_Z 8720 -#define MAX_Z 23800 -#define CENTRE_Z 16300 +#define MIN_Z config.stick.timing.z.min +#define MAX_Z config.stick.timing.z.max +#define CENTRE_Z config.stick.timing.z.centre -#define MIN_THR 9720 -#define MAX_THR 23750 +#define MIN_THR config.stick.timing.throttle.min +#define MAX_THR config.stick.timing.throttle.max #define MIN_REAL_THR 8720 @@ -46,11 +47,11 @@ */ /* Full scale is a roll/pitch angle of 30 degrees from the vertical */ -#define SCALE_X (TWO_PI*30.0/360.0 / (MAX_X-CENTRE_X)) -#define SCALE_Y (TWO_PI*30.0/360.0 / (MAX_Y-CENTRE_Y)) +#define SCALE_X (TWO_PI*config.stick.sensitivity.x/360.0 / (MAX_X-CENTRE_X)) +#define SCALE_Y (TWO_PI*config.stick.sensitivity.y/360.0 / (MAX_Y-CENTRE_Y)) /* Full scale is a complete rotation in one second */ -#define SCALE_Z (TWO_PI / (MAX_Z-CENTRE_Z)) +#define SCALE_Z (TWO_PI*config.stick.sensitivity.z/360.0 / (MAX_Z-CENTRE_Z)) /* 0 is min throttle, 1 is max throttle */ #define SCALE_THROTTLE (1.0f/(MAX_THR - MIN_THR))