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72 lines
1.6 KiB
JavaScript
72 lines
1.6 KiB
JavaScript
'use strict';
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const { constrain } = require('./helpers')
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var MotorMixRule = function (throttle, roll, pitch, yaw) {
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var self = {};
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self.fromMsp = function (mspThrottle, mspRoll, mspPitch, mspYaw) {
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throttle = Math.round(((mspThrottle / 1000) - 2) * 1000) / 1000;
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roll = Math.round(((mspRoll / 1000) - 2) * 1000) / 1000;
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pitch = Math.round(((mspPitch / 1000) - 2) * 1000) / 1000;
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yaw = Math.round(((mspYaw / 1000) - 2) * 1000) / 1000;
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};
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self.isUsed = function () {
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return throttle !== 0;
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};
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self.getThrottle = function () {
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return constrain(parseFloat(throttle, 10), -2, 2);
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};
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self.getThrottleForMsp = function () {
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return (self.getThrottle()+2) * 1000;
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};
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self.setThrottle = function (data) {
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throttle = data;
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};
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self.getRoll = function () {
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return constrain(parseFloat(roll, 10), -2, 2);
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};
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self.getRollForMsp = function () {
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return (self.getRoll() + 2) * 1000;
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};
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self.setRoll = function (data) {
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roll = data;
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};
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self.getPitch = function () {
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return constrain(parseFloat(pitch, 10), -2, 2);
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};
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self.getPitchForMsp = function () {
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return (self.getPitch() + 2) * 1000;
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};
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self.setPitch = function (data) {
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pitch = data;
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};
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self.getYaw = function () {
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return constrain(parseFloat(yaw, 10), -2, 2);
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};
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self.getYawForMsp = function () {
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return (self.getYaw() + 2) * 1000;
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};
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self.setYaw = function (data) {
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yaw = data;
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};
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return self;
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};
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module.exports = MotorMixRule;
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