h3n3/darkwater_cplus_escape
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added sanity checks

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This commit is contained in:
shrkey
2016-10-17 17:27:03 +01:00
parent c6e69cfc16
commit 5688807619
1 changed files with 7 additions and 1 deletions
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8
examples/PPM-decoder/PPM.cpp
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@@ -71,8 +71,14 @@ void ppmOnEdge(int gpio, int level, uint32_t tick)
currentChannel = 0; currentChannel = 0;
// RC output // RC output
for (int i = 0; i < ppmChannelsNumber; i++) for (int i = 0; i < ppmChannelsNumber; i++) {
// Because we aren't going to get exact readings as this may not be running with a RT kernel
// We need to add some sanity checks for values
if( channels[i] > 2000 ) channels[i] = 2000; // Set top value
if( channels[i] < 1000 ) channels[i] = 1000; // Set bottom value
//if( channels[i] < 1550 && channels[i] > 1450 ) channels[i] = 1500; // Add a dead band around center
servos[i]->setPWMuS( channels[i] ); servos[i]->setPWMuS( channels[i] );
}
// Console output // Console output
if (verboseOutputEnabled) { if (verboseOutputEnabled) {