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[1.14] rc_update: throttle trim centering fix for reverse channel #21692

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merged 2 commits into from
Jun 6, 2023
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[1.14] rc_update: throttle trim centering fix for reverse channel #21692

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483d631
rc_update: throttle trim centering fix for reverse channel
MaEtUgR Jun 5, 2023
9a87b85
PULL_REQUEST_TEMPLATE: fix typo
MaEtUgR Jun 5, 2023
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2 changes: 1 addition & 1 deletion .github/PULL_REQUEST_TEMPLATE.md
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ For release notes:
```
Feature/Bugfix XYZ
New parameter: XYZ_Z
Documentation: Need to clarfiy page ... / done, read docs.px4.io/...
Documentation: Need to clarify page ... / done, read docs.px4.io/...
```

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6 changes: 5 additions & 1 deletion src/modules/rc_update/rc_update.cpp
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Expand Up @@ -210,8 +210,12 @@ void RCUpdate::parameters_updated()
const uint16_t throttle_min = _parameters.min[throttle_channel];
const uint16_t throttle_trim = _parameters.trim[throttle_channel];
const uint16_t throttle_max = _parameters.max[throttle_channel];
const bool throttle_rev = _parameters.rev[throttle_channel];

if (throttle_min == throttle_trim) {
const bool normal_case = !throttle_rev && (throttle_trim == throttle_min);
const bool reversed_case = throttle_rev && (throttle_trim == throttle_max);

if (normal_case || reversed_case) {
const uint16_t new_throttle_trim = (throttle_min + throttle_max) / 2;
_parameters.trim[throttle_channel] = new_throttle_trim;
}
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