SRV_Channel: expose public function to convert scaled value to pwm

Allow other modules to get and store the PWM value for a specific scaled value and re-apply it later.
ArduPilot · Oct 16, 2023 · 79b7852 · 79b7852
1 parent 1ece48b
commit 79b7852
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Showing 2 changed files with 14 additions and 10 deletions.
diff --git a/libraries/SRV_Channel/SRV_Channel.cpp b/libraries/SRV_Channel/SRV_Channel.cpp
@@ -201,6 +201,15 @@ uint16_t SRV_Channel::pwm_from_angle(float scaled_value) const
     }
 }
 
+uint16_t SRV_Channel::pwm_from_scaled_value(float scaled_value) const
+{
+    if (type_angle) {
+        return pwm_from_angle(scaled_value);
+    } else {
+        return pwm_from_range(scaled_value);
+    }
+}
+
 void SRV_Channel::calc_pwm(float output_scaled)
 {
     if (have_pwm_mask & (1U<<ch_num)) {
@@ -221,11 +230,7 @@ void SRV_Channel::calc_pwm(float output_scaled)
         return;
     }
 
-    if (type_angle) {
-        output_pwm = pwm_from_angle(output_scaled);
-    } else {
-        output_pwm = pwm_from_range(output_scaled);
-    }
+    output_pwm = pwm_from_scaled_value(output_scaled);
 }
 
 void SRV_Channel::set_output_pwm(uint16_t pwm, bool force)
@@ -240,11 +245,7 @@ void SRV_Channel::set_output_pwm(uint16_t pwm, bool force)
 void SRV_Channel::set_output_norm(float value)
 {
     // convert normalised value to pwm
-    if (type_angle) {
-        set_output_pwm(pwm_from_angle(value * high_out));
-    } else {
-        set_output_pwm(pwm_from_range(value * high_out));
-    }
+    set_output_pwm(pwm_from_scaled_value(value * high_out));
 }
 
 // set angular range of scaled output

diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h
@@ -280,6 +280,9 @@ class SRV_Channel {
         return function.configured();
     }
 
+    // convert a scaled value (either range or angle depending on setup) to a pwm
+    uint16_t pwm_from_scaled_value(float scaled_value) const;
+
     // specify that small rc input changes should be ignored during passthrough
     // used by DO_SET_SERVO commands
     void ignore_small_rcin_changes() { ign_small_rcin_changes = true; }