x

ArduCopter/AP_Arming_Copter.cpp

@@ -631,7 +631,7 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
 #if FRAME_CONFIG == HELI_FRAME
             if ((copter.flightmode->has_manual_throttle() || copter.flightmode->mode_number() == Mode::Number::DRIFT) && copter.motors->get_takeoff_collective()) {
 #else
-            if ((copter.flightmode->has_manual_throttle() || copter.flightmode->mode_number() == Mode::Number::DRIFT) && copter.channel_throttle->get_control_in() > 0) {
+            if ((copter.flightmode->has_manual_throttle() || copter.flightmode->mode_number() == Mode::Number::DRIFT) && copter.channel_throttle->norm_input_dz() > 0) {
 #endif
                 check_failed(Check::RC, true, "%s too high", rc_item);
                 return false;

ArduCopter/Attitude.cpp

@@ -78,7 +78,7 @@ float Copter::get_pilot_desired_climb_rate_ms()
         return 0.0f;
     }
 
-    float throttle_control = copter.channel_throttle->get_control_in();
+    float throttle_control = copter.channel_throttle->norm_input_dz() * 1000.0f;
 
 #if TOY_MODE_ENABLED
     if (g2.toy_mode.enabled()) {

ArduCopter/Copter.cpp

@@ -873,17 +873,17 @@ void Copter::update_simple_mode(void)
 
     if (simple_mode == SimpleMode::SIMPLE) {
         // rotate roll, pitch input by -initial simple heading (i.e. north facing)
-        rollx = channel_roll->get_control_in()*simple_cos_yaw - channel_pitch->get_control_in()*simple_sin_yaw;
-        pitchx = channel_roll->get_control_in()*simple_sin_yaw + channel_pitch->get_control_in()*simple_cos_yaw;
+        rollx = channel_roll->norm_input_dz()*simple_cos_yaw - channel_pitch->norm_input_dz()*simple_sin_yaw;
+        pitchx = channel_roll->norm_input_dz()*simple_sin_yaw + channel_pitch->norm_input_dz()*simple_cos_yaw;
     }else{
         // rotate roll, pitch input by -super simple heading (reverse of heading to home)
-        rollx = channel_roll->get_control_in()*super_simple_cos_yaw - channel_pitch->get_control_in()*super_simple_sin_yaw;
-        pitchx = channel_roll->get_control_in()*super_simple_sin_yaw + channel_pitch->get_control_in()*super_simple_cos_yaw;
+        rollx = channel_roll->norm_input_dz()*super_simple_cos_yaw - channel_pitch->norm_input_dz()*super_simple_sin_yaw;
+        pitchx = channel_roll->norm_input_dz()*super_simple_sin_yaw + channel_pitch->norm_input_dz()*super_simple_cos_yaw;
     }
 
     // rotate roll, pitch input from north facing to vehicle's perspective
-    channel_roll->set_control_in(rollx*ahrs.cos_yaw() + pitchx*ahrs.sin_yaw());
-    channel_pitch->set_control_in(-rollx*ahrs.sin_yaw() + pitchx*ahrs.cos_yaw());
+    channel_roll->set_norm_in(rollx*ahrs.cos_yaw() + pitchx*ahrs.sin_yaw());
+    channel_pitch->set_norm_in(-rollx*ahrs.sin_yaw() + pitchx*ahrs.cos_yaw());
 }
 
 // update_super_simple_bearing - adjusts simple bearing based on location

ArduCopter/RC_Channel_Copter.cpp

@@ -221,7 +221,7 @@ bool RC_Channel_Copter::do_aux_function(const AuxFuncTrigger &trigger)
         case AUX_FUNC::SAVE_TRIM:
             if ((ch_flag == AuxSwitchPos::HIGH) &&
                 (copter.flightmode->allows_save_trim()) &&
-                (copter.channel_throttle->get_control_in() == 0)) {
+                (is_zero(copter.channel_throttle->norm_input_dz()))) {
                 copter.g2.rc_channels.save_trim();
             }
             break;
@@ -237,7 +237,7 @@ bool RC_Channel_Copter::do_aux_function(const AuxFuncTrigger &trigger)
                 }
 
                 // do not allow saving the first waypoint with zero throttle
-                if (!copter.mode_auto.mission.present() && (copter.channel_throttle->get_control_in() == 0)) {
+                if (!copter.mode_auto.mission.present() && (is_zero(copter.channel_throttle->norm_input_dz()))) {
                     break;
                 }
 
@@ -262,7 +262,7 @@ bool RC_Channel_Copter::do_aux_function(const AuxFuncTrigger &trigger)
                 cmd.content.location = copter.current_loc;
 
                 // if throttle is above zero, create waypoint command
-                if (copter.channel_throttle->get_control_in() > 0) {
+                if (copter.channel_throttle->norm_input_dz() > 0.0f) {
                     cmd.id = MAV_CMD_NAV_WAYPOINT;
                 } else {
                     // with zero throttle, create LAND command

ArduCopter/baro_ground_effect.cpp

@@ -35,7 +35,7 @@ void Copter::update_ground_effect_detector(void)
     UNUSED_RESULT(AP::ahrs().get_relative_position_D_origin_float(pos_d_m));
 
     // if we aren't taking off yet, reset the takeoff timer, altitude and complete flag
-    const bool throttle_up = flightmode->has_manual_throttle() && channel_throttle->get_control_in() > 0;
+    const bool throttle_up = flightmode->has_manual_throttle() && channel_throttle->norm_input_dz() > 0.0f;
     if (!throttle_up && ap.land_complete) {
         gndeffect_state.takeoff_time_ms = tnow_ms;
         gndeffect_state.takeoff_alt_m = -pos_d_m;

ArduCopter/compassmot.cpp

@@ -59,7 +59,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
 
     // check throttle is at zero
     read_radio();
-    if (channel_throttle->get_control_in() != 0) {
+    if (!is_zero(channel_throttle->norm_input_dz())) {
         gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Throttle not zero");
         ap.compass_mot = false;
         return MAV_RESULT_TEMPORARILY_REJECTED;
@@ -148,7 +148,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
         // pass through throttle to motors
         auto &srv = AP::srv();
         srv.cork();
-        motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f);
+        motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->norm_input_dz());
         srv.push();
 
         // read some compass values
@@ -158,7 +158,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
         battery.read();
 
         // calculate scaling for throttle
-        throttle_pct = (float)channel_throttle->get_control_in() * 0.001f;
+        throttle_pct = channel_throttle->norm_input_dz();
         throttle_pct = constrain_float(throttle_pct,0.0f,1.0f);
 
         // record maximum throttle
@@ -220,7 +220,7 @@ MAV_RESULT Copter::mavlink_compassmot(const GCS_MAVLINK &gcs_chan)
         if (AP_HAL::millis() - last_send_time_ms > 500) {
             last_send_time_ms = AP_HAL::millis();
             mavlink_msg_compassmot_status_send(gcs_chan.get_chan(),
-                                               channel_throttle->get_control_in(),
+                                               uint16_t(channel_throttle->norm_input_dz() * 1000.0f),
                                                current,
                                                interference_pct[0],
                                                motor_compensation[0].x,

ArduCopter/esc_calibration.cpp

@@ -35,7 +35,7 @@ void Copter::esc_calibration_startup_check()
     switch (g.esc_calibrate) {
         case ESCCalibrationModes::ESCCAL_NONE:
             // check if throttle is high
-            if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
+            if (channel_throttle->norm_input_dz() >= ESC_CALIBRATION_HIGH_THROTTLE * 0.001f) {
                 // we will enter esc_calibrate mode on next reboot
                 g.esc_calibrate.set_and_save(ESCCalibrationModes::ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH);
                 // send message to gcs
@@ -48,7 +48,7 @@ void Copter::esc_calibration_startup_check()
             break;
         case ESCCalibrationModes::ESCCAL_PASSTHROUGH_IF_THROTTLE_HIGH:
             // check if throttle is high
-            if (channel_throttle->get_control_in() >= ESC_CALIBRATION_HIGH_THROTTLE) {
+            if (channel_throttle->norm_input_dz() >= ESC_CALIBRATION_HIGH_THROTTLE * 0.001f) {
                 // pass through pilot throttle to escs
                 esc_calibration_passthrough();
             }
@@ -97,7 +97,7 @@ void Copter::esc_calibration_passthrough()
         // pass through to motors
         auto &srv = AP::srv();
         srv.cork();
-        motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->get_control_in() * 0.001f);
+        motors->set_throttle_passthrough_for_esc_calibration(channel_throttle->norm_input_dz());
         srv.push();
     }
 #endif  // FRAME_CONFIG != HELI_FRAME

ArduCopter/heli.cpp

@@ -139,7 +139,7 @@ bool Copter::should_use_landing_swash() const
 void Copter::heli_update_landing_swash()
 {
     motors->set_collective_for_landing(should_use_landing_swash());
-    update_collective_low_flag(channel_throttle->get_control_in());
+    update_collective_low_flag(int16_t(channel_throttle->norm_input_dz() * 1000.0f));
 }
 
 // convert motor interlock switch's position to desired rotor speed expressed as a value from 0 to 1
@@ -148,8 +148,8 @@ float Copter::get_pilot_desired_rotor_speed() const
 {
     RC_Channel *rc_ptr = rc().find_channel_for_option(RC_Channel::AUX_FUNC::MOTOR_INTERLOCK);
     if (rc_ptr != nullptr) {
-        rc_ptr->set_range(1000);
-        return (float)rc_ptr->get_control_in() * 0.001f;
+        rc_ptr->set_range();
+        return rc_ptr->norm_input_dz();
     }
     return 0.0f;
 }

ArduCopter/land_detector.cpp

@@ -289,7 +289,7 @@ void Copter::update_throttle_mix()
 
     if (flightmode->has_manual_throttle()) {
         // manual throttle
-        if (channel_throttle->get_control_in() <= 0 && air_mode != AirMode::AIRMODE_ENABLED) {
+        if (channel_throttle->norm_input_dz() <= 0.0f && air_mode != AirMode::AIRMODE_ENABLED) {
             attitude_control->set_throttle_mix_min();
         } else {
             attitude_control->set_throttle_mix_man();

ArduCopter/mode.cpp

@@ -967,7 +967,8 @@ float Mode::get_pilot_desired_throttle() const
         mid_stick = 500;
     }
 
-    int16_t throttle_control = channel_throttle->get_control_in();
+    // norm_input_dz() on a RANGE channel: 0 at bottom with deadzone, 1 at top; does not use trim
+    int16_t throttle_control = int16_t(channel_throttle->norm_input_dz() * 1000.0f);
     // ensure reasonable throttle values
     throttle_control = constrain_int16(throttle_control,0,1000);
 

ArduCopter/mode_acro_heli.cpp

@@ -81,7 +81,7 @@ void ModeAcro_Heli::run()
     }
 
     // get pilot's desired throttle
-    pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
+    pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(int16_t(channel_throttle->norm_input_dz() * 1000.0f));
 
     // output pilot's throttle without angle boost
     attitude_control->set_throttle_out(pilot_throttle_scaled, false, g.throttle_filt);

ArduCopter/mode_drift.cpp

@@ -81,9 +81,8 @@ void ModeDrift::run()
     vel_right_ms   = constrain_float(vel_right_ms,   -DRIFT_SPEEDLIMIT_MS, DRIFT_SPEEDLIMIT_MS);
     vel_forward_ms = constrain_float(vel_forward_ms, -DRIFT_SPEEDLIMIT_MS, DRIFT_SPEEDLIMIT_MS);
 
-    // roll_input from yaw stick (convert centidegrees -> radians before LP)
-    // (channel_yaw->get_control_in() returns centidegrees)
-    const float yaw_stick_rad = cd_to_rad((float)channel_yaw->get_control_in());
+    // roll_input from yaw stick (convert to radians before LP)
+    const float yaw_stick_rad = cd_to_rad(channel_yaw->norm_input_dz() * 4500.0f);
     roll_input_rad = roll_input_rad * 0.96f + yaw_stick_rad * 0.04f;
 
     // convert user input into desired roll velocity term (m/s equivalent)

ArduCopter/mode_flip.cpp

@@ -63,11 +63,11 @@ bool ModeFlip::init(bool ignore_checks)
     roll_dir = pitch_dir = 0;
 
     // choose direction based on pilot's roll and pitch sticks
-    if (channel_pitch->get_control_in() > 300) {
+    if (channel_pitch->norm_input_dz() > 300.0f/4500.0f) {
         pitch_dir = FLIP_PITCH_BACK;
-    } else if (channel_pitch->get_control_in() < -300) {
+    } else if (channel_pitch->norm_input_dz() < -300.0f/4500.0f) {
         pitch_dir = FLIP_PITCH_FORWARD;
-    } else if (channel_roll->get_control_in() >= 0) {
+    } else if (channel_roll->norm_input_dz() >= 0.0f) {
         roll_dir = FLIP_ROLL_RIGHT;
     } else {
         roll_dir = FLIP_ROLL_LEFT;
@@ -219,7 +219,7 @@ void ModeFlip::abandon_flip()
 
 bool ModeFlip::input_is_high_magnitude(RC_Channel &input) const
 {
-    return abs(input.get_control_in()) >= 4000;
+    return fabsf(channel_roll->norm_input_dz()) >= 4000.0f/4500.0f;
 }
 
 #endif

ArduCopter/mode_flowhold.cpp

@@ -323,8 +323,8 @@ void ModeFlowHold::run()
     Vector2f bf_angles_rad;
 
     // calculate alt-hold angles
-    int16_t roll_in = copter.channel_roll->get_control_in();
-    int16_t pitch_in = copter.channel_pitch->get_control_in();
+    const float roll_in = copter.channel_roll->norm_input_dz();
+    const float pitch_in = copter.channel_pitch->norm_input_dz();
     const float angle_max_rad = copter.attitude_control->lean_angle_max_rad();
 
     float target_roll_rad, target_pitch_rad;
@@ -337,7 +337,7 @@ void ModeFlowHold::run()
         // don't use for first 3s when we are just taking off
         Vector2f flow_angles;
 
-        flowhold_flow_to_angle(flow_angles, (roll_in != 0) || (pitch_in != 0));
+        flowhold_flow_to_angle(flow_angles, !is_zero(roll_in) || !is_zero(pitch_in));
         flow_angles.x = constrain_float(flow_angles.x, -angle_max_rad/2, angle_max_rad/2);
         flow_angles.y = constrain_float(flow_angles.y, -angle_max_rad/2, angle_max_rad/2);
         bf_angles_rad += flow_angles;

ArduCopter/mode_stabilize_heli.cpp

@@ -34,7 +34,7 @@ void ModeStabilize_Heli::run()
     float target_yaw_rate_rads = get_pilot_desired_yaw_rate_rads();
 
     // get pilot's desired throttle
-    pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
+    pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(int16_t(channel_throttle->norm_input_dz() * 1000.0f));
 
     // Tradheli should not reset roll, pitch, yaw targets when motors are not runup while flying, because
     // we may be in autorotation flight.  This is so that the servos move in a realistic fashion while disarmed

ArduCopter/mode_systemid.cpp

@@ -227,7 +227,7 @@ void ModeSystemId::run()
 
         // get pilot's desired throttle
 #if FRAME_CONFIG == HELI_FRAME
-        pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(channel_throttle->get_control_in());
+        pilot_throttle_scaled = copter.input_manager.get_pilot_desired_collective(int16_t(channel_throttle->norm_input_dz() * 1000.0f));
 #else
         pilot_throttle_scaled = get_pilot_desired_throttle();
 #endif

ArduCopter/motors.cpp

@@ -41,7 +41,7 @@ void Copter::auto_disarm_check()
             thr_low = ap.throttle_zero;
         } else {
             float deadband_top = get_throttle_mid() + g.throttle_deadzone;
-            thr_low = channel_throttle->get_control_in() <= deadband_top;
+            thr_low = channel_throttle->norm_input_dz() * 1000.0f <= deadband_top;
         }
 
         if (!thr_low || !ap.land_complete) {
@@ -137,7 +137,7 @@ void Copter::lost_vehicle_check()
     }
 
     // ensure throttle is down, motors not armed, pitch and roll rc at max. Note: rc1=roll rc2=pitch
-    if (ap.throttle_zero && !motors->armed() && (channel_roll->get_control_in() > 4000) && (channel_pitch->get_control_in() > 4000)) {
+    if (ap.throttle_zero && !motors->armed() && (channel_roll->norm_input_dz() > 4000.0f/4500.0f) && (channel_pitch->norm_input_dz() > 4000.0f/4500.0f)) {
         if (soundalarm_counter >= LOST_VEHICLE_DELAY) {
             if (AP_Notify::flags.vehicle_lost == false) {
                 AP_Notify::flags.vehicle_lost = true;

ArduCopter/radio.cpp

@@ -26,10 +26,10 @@ void Copter::init_rc_in()
     channel_yaw      = &rc().get_yaw_channel();
 
     // set rc channel ranges
-    channel_roll->set_angle(ROLL_PITCH_YAW_INPUT_MAX);
-    channel_pitch->set_angle(ROLL_PITCH_YAW_INPUT_MAX);
-    channel_yaw->set_angle(ROLL_PITCH_YAW_INPUT_MAX);
-    channel_throttle->set_range(1000);
+    channel_roll->set_angle();
+    channel_pitch->set_angle();
+    channel_yaw->set_angle();
+    channel_throttle->set_range();
 
 #if AP_RC_TRANSMITTER_TUNING_ENABLED
     rc_tuning = rc().find_channel_for_option(RC_Channel::AUX_FUNC::TRANSMITTER_TUNING);
@@ -97,13 +97,13 @@ void Copter::read_radio()
         ap.new_radio_frame = true;
 
         set_throttle_and_failsafe(channel_throttle->get_radio_in());
-        set_throttle_zero_flag(channel_throttle->get_control_in());
+        set_throttle_zero_flag(int16_t(channel_throttle->norm_input_dz() * 1000.0f));
 
         // pass pilot input through to motors (used to allow wiggling servos while disarmed on heli, single, coax copters)
         radio_passthrough_to_motors();
 
         const float dt = (tnow_ms - last_radio_update_ms)*1.0e-3f;
-        rc_throttle_control_in_filter.apply(channel_throttle->get_control_in(), dt);
+        rc_throttle_control_in_filter.apply(channel_throttle->norm_input_dz() * 1000.0f, dt);
         last_radio_update_ms = tnow_ms;
         return;
     }
@@ -201,7 +201,7 @@ void Copter::radio_passthrough_to_motors()
 {
     motors->set_radio_passthrough(channel_roll->norm_input(),
                                   channel_pitch->norm_input(),
-                                  channel_throttle->get_control_in_zero_dz()*0.001f,
+                                  channel_throttle->norm_input(),
                                   channel_yaw->norm_input());
 }
 
@@ -215,5 +215,14 @@ int16_t Copter::get_throttle_mid(void)
         return g2.toy_mode.get_throttle_mid();
     }
 #endif
-    return channel_throttle->get_control_mid();
+    // Use the geometric mid-point of the PWM range (matches original get_control_mid() behaviour).
+    // radio_trim is intentionally not used — it affects feel but not stick centre.
+    const int16_t r_min = channel_throttle->get_radio_min();
+    const int16_t r_max = channel_throttle->get_radio_max();
+    const int16_t r_mid = (r_min + r_max) / 2;
+    const int16_t dead_zone_top = r_min + int16_t(channel_throttle->get_dead_zone());
+    if (dead_zone_top >= r_max || r_mid <= dead_zone_top) {
+        return 500;
+    }
+    return int16_t(1000.0f * float(r_mid - dead_zone_top) / float(r_max - dead_zone_top));
 }

ArduCopter/toy_mode.cpp

@@ -408,11 +408,11 @@ void ToyMode::update()
 
     // we use 150 for throttle_at_min to cope with varying stick throws
     bool throttle_at_min =
-        copter.channel_throttle->get_control_in() < 150;
+        copter.channel_throttle->norm_input_dz() < 0.15f;
 
     // throttle threshold for throttle arming
     bool throttle_near_max =
-        copter.channel_throttle->get_control_in() > 700;
+        copter.channel_throttle->norm_input_dz() > 0.7f;
 
     /*
       disarm if throttle is low for 1 second when landed
@@ -799,9 +799,9 @@ void ToyMode::action_arm(void)
     // don't arm if sticks aren't in deadzone, to prevent pot problems
     // on TX causing flight control issues
     bool sticks_centered =
-        copter.channel_roll->get_control_in() == 0 &&
-        copter.channel_pitch->get_control_in() == 0 &&
-        copter.channel_yaw->get_control_in() == 0;
+        is_zero(copter.channel_roll->norm_input_dz()) &&
+        is_zero(copter.channel_pitch->norm_input_dz()) &&
+        is_zero(copter.channel_yaw->norm_input_dz());
 
     if (!sticks_centered) {
         gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: sticks not centered");