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修改RectifyRCjoystick()改了左摇杆限幅

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guoxy06
2026-03-15 16:41:00 +08:00
parent 4ac9cba1d7
commit 3ebb57d86b
5 changed files with 62 additions and 24 deletions
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27
modules/remote/remote_control.c
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@@ -20,13 +20,32 @@ static DaemonInstance *rc_daemon_instance;
* @brief 矫正遥控器摇杆的值,超过660或者小于-660的值都认为是无效值,置0
*
*/
static void RectifyRCjoystick()
// static void RectifyRCjoystick()
// {
// for (uint8_t i = 0; i < 5; ++i)
// if (abs(*(&rc_ctrl[TEMP].rc.rocker_l_ + i)) > 660)
// *(&rc_ctrl[TEMP].rc.rocker_l_ + i) = 0;
// }
static void RectifyRCjoystick()//左遥杆水平向右限幅不够，因为下面的+3，将+3删除就用上面的
{
int16_t *rocker_ptr = &rc_ctrl[TEMP].rc.rocker_l_;
for (uint8_t i = 0; i < 5; ++i)
if (abs(*(&rc_ctrl[TEMP].rc.rocker_l_ + i)) > 660)
*(&rc_ctrl[TEMP].rc.rocker_l_ + i) = 0;
{
if (i == 0) // 左遥杆水平方向
{
// 增加右向最大值到700，左向保持660不变
if (rocker_ptr[i] > 700)
rocker_ptr[i] = 700;
else if (rocker_ptr[i] < -660)
rocker_ptr[i] = -660;
}
else // 其他通道保持原限制
{
if (abs(rocker_ptr[i]) > 660)
rocker_ptr[i] = 0;
}
}
}
/**
* @brief 遥控器数据解析
*