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Draft: Extend servo range #377

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Draft: Extend servo range #377

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875a2bf
Add pre-release flag
l-jost Apr 2, 2024
0603a81
Extend servo operating range
l-jost Apr 2, 2024
973ca15
Extend servo operating range
l-jost Apr 2, 2024
b9e8862
Merge branch 'extend-servo-range' of github.com:catsystems/cats-embed…
l-jost Apr 2, 2024
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2 changes: 1 addition & 1 deletion flight_computer/platformio.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ check_src_filters =
build_unflags=-fno-rtti

build_flags =
-D FIRMWARE_VERSION='"3.0.2"'
-D FIRMWARE_VERSION='"3.0.2-pre"'
-D ARM_MATH_CM4
-D ARM_MATH_MATRIX_CHECK
-D ARM_MATH_ROUNDING
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6 changes: 3 additions & 3 deletions flight_computer/src/drivers/servo.cpp
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Expand Up @@ -14,9 +14,9 @@ void Servo::SetPosition(uint16_t ticks) {
// Get the output depth
const auto depth = static_cast<float32_t>(m_pwm_channel.GetPwmDepth());

// Servos operate between 4% and 11% duty cycle -> 7% usage of the pwm depth
const float32_t single_tick = (depth * 0.07F) / 1000.0F;
const auto output = static_cast<uint32_t>(single_tick * static_cast<float32_t>(ticks) + 0.04F * depth);
// Servos operate between 2.5% and 12.5% duty cycle -> 10% usage of the pwm depth
const float32_t single_tick = (depth * 0.1F) / 1000.0F;
const auto output = static_cast<uint32_t>(single_tick * static_cast<float32_t>(ticks) + 0.025F * depth);
m_pwm_channel.SetDutyCycleTicks(output);
}

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