rc_update: throttle trim centering fix for reverse channel #21682
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The entire logic did not work for the case when the throttle channel is reversed because then QGC sets trim = max for that channel and the result is only half the throttle range.
| const bool normal_case = !throttle_rev && (throttle_trim == throttle_min); | ||
| const bool reversed_case = throttle_rev && (throttle_trim == throttle_max); |
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These cases are relevant only because of the hotfix in the QGC right? If so, should we note it in the code?
Codewise this is a nice way to wrap up #21576!
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Yes, that's written in the comment just above this logic:
https://github.com/PX4/PX4-Autopilot/pull/21682/files#diff-bc65e8936281291b7e9801b185ee1740a6f2d4207e3b539c059469daa6cdfcc9R210-R211
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/px4-maintainers-call-june-06-2023/32473/1 |
| const bool normal_case = !throttle_rev && (throttle_trim == throttle_min); | ||
| const bool reversed_case = throttle_rev && (throttle_trim == throttle_max); |
There was a problem hiding this comment.
Yes, that's written in the comment just above this logic:
https://github.com/PX4/PX4-Autopilot/pull/21682/files#diff-bc65e8936281291b7e9801b185ee1740a6f2d4207e3b539c059469daa6cdfcc9R210-R211
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Needs to also go on 1.14 👀 |
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/driving-backwards-with-a-boat-rover-in-manual-mode/25714/9 |
Solved Problem
When integrating an airframe I found that if the throttle channel is reversed the logic that corrects for QGC calibrating the throttle to half the range (see #15949 (comment))
Solution
Changelog Entry
For release notes:
Alternatives
This can be removed again once the calibration in QGC is revised and available in a stable release for long enough.
Test coverage