WebSVN - FlightCtrl - Path Comparison - /branches/ Rev 805 and /branches/ Rev 806

Ignore whitespace Rev 805 → Rev 806

 /branches/V0.68d Code Redesign killagreg/GPS.c
 ,9 → 316,9
                         GPS_Neutral();
                         if(GPS_Task != TSK_IDLE)
                         {
-                                satbeep = 1800 - (int16_t)GPSInfo.satnum * 225; // is zero at 8 sats
+                                satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats
                                 if (satbeep < 0) satbeep = 0;
-                                BeepTime = 50 + (uint16_t)satbeep; // max 1850 * 0.1 ms =
+                                BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms =
                         }
                 }
                 // set current data as processed to avoid further calculations on the same gps data

 /branches/V0.68d Code Redesign killagreg/Hex-Files/Conrad LEA-4H Config.txt
 ,7 → 52,7
 CFG-PRT - 06 00 14 00 01 00 00 00 D0 08 08 00 00 E1 00 00 01 00 01 00 00 00 00 00
 CFG-PRT - 06 00 14 00 02 00 00 00 D0 08 08 00 00 E1 00 00 01 00 01 00 00 00 00 00
 CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 03 00 03 00 00 00 00 00
-CFG-RATE - 06 08 06 00 FA 00 01 00 00 00
+CFG-RATE - 06 08 06 00 64 00 02 00 00 00
 CFG-RXM - 06 11 02 00 03 00
 CFG-SBAS - 06 16 08 00 01 01 01 00 00 00 00 00
 CFG-TP - 06 07 14 00 40 42 0F 00 A0 86 01 00 01 01 00 00 32 00 34 03 00 00 00 00

 /branches/V0.68d Code Redesign killagreg/Hex-Files/Flight-Ctrl_MEGA644_CMPS03_V0_68d.hex
 ,59 → 117,59
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-:100790001D92A23FB107E1F70E94D2030C94EC46F0
+:100790001D92A03FB107E1F70E94D2030C94B84626
 :1007A0000C940000CF93DF93F89414B815B8189BFD
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 :1007E00060001092600080ED97E09093D8048093B1
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 :100A40006D0380936C030E948B1780910403909137
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 :100AA0000D070E94B507CE010E949A0C882309F415
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 ,34 → 187,34
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 :100BC00001018823E1F48091D0049091D104019631
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 :100C70008093C60008951F93CF93DF93EA01722FEC
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-:100D70004F5FE42FF0E0E456F94F10814F5FE42F0E
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 ,39 → 225,39
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 :100E1000C60080E090E01F91089580910101882331
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-:100E3000882351F06091CA042BE04CE357E087E42B
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-:100E600080910101882391F06091CA0422E447E453
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-:100EB0008FEF8093020190911F089923A1F08091F8
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-:100ED0008DE080938B071092010110921F08809182
-:100EE00089078093C6008091BB04882359F18091C3
+:100EB0008FEF8093020190911D089923A1F08091FA
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 :100F0000C004932F9F5F9093C004943021F0809190
-:100F1000C104882359F02EE14CE258E060E084E3FC
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 :101060008A818F3F21F481E08093C10402C01092F5
 ,41 → 264,41
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 :1010900043E064E086EC94E00E94A4068091C904D9
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 :1010B0008093BA0459C02091BF0443E062E0CE019E
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 ,7 → 312,7
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 :10139000CF93DF93CDB7DEB7E5970FB6F894DEBFF6
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 :1013C0001EA61FA618AA19AA9E01225D3F4F3DAB7B
 :1013D0002CAB820102C00F5F1F4FF801F490FF2079
 ,7 → 360,7
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 :1016900014C0452F552747FD509560E070E0C60106
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 ,10 → 372,10
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 ,8 → 414,8
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 :1019F00000018A3039F404C05A9A05C0479A03C0DE
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 ,20 → 435,20
 :101B2000FF93809107038150809307038F3F09F053
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 /branches/V0.68d Code Redesign killagreg/Hex-Files/Flight-Ctrl_MEGA644p_MM3_V0_68d.hex
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 :00000001FF

 /branches/V0.68d Code Redesign killagreg/fc.c
 ,7 → 258,7
 // Roll
         Reading_GyroRoll += tmpl;
-        Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109
+        Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L;
         Reading_IntegralGyroRoll2 += Reading_GyroRoll;
         Reading_IntegralGyroRoll +=  Reading_GyroRoll - AttitudeCorrectionRoll;
         if(Reading_IntegralGyroRoll > TurnOver180Roll)

 /branches/V0.68d Code Redesign killagreg/rc.c
 ,7 → 81,6
 // check for at least one input capture event per timer overflow (timeout)
 ISR(TIMER1_OVF_vect)
 {
-        int16_t signal = 0;
         static uint16_t lastICR1 = 0;
         // if ICR1 has not changed
         // then no new input capture event has occured since last timer overflow
 ,9 → 114,7
 {
     int16_t signal = 0, tmp;
         static int16_t index;
-        static int16_t Sum_RC_Quality = 0;
         static uint16_t oldICR1 = 0;
-        int16_t Noise;
         // 16bit Input Capture Register ICR1 contains the timer value TCNT1
         // at the time the edge was detected
 ,7 → 128,7
     // lost frame?
     if(signal > 8000)
     {
-                Sum_RC_Quality -= Sum_RC_Quality/2;
+                RC_Quality /= 2;
         }
         else
     //sync gap? (3.52 ms < signal < 25.6 ms)
 ,29 → 151,22
                                 // shift signal to zero symmetric range  -154 to 159
                 signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms)
                 // check for stable signal
-                Noise = abs(signal - PPM_in[index]);
-                if((Noise/16) > (200-RC_Quality)) // spike detector
-                                {
-                                        Sum_RC_Quality -= 3*RC_Quality;
-                                        Sum_RC_Quality += 3*(200 - Noise);
+                if(abs(signal-PPM_in[index]) < 6)
+                {
+                                        if(RC_Quality < 200) RC_Quality +=10;
                                 }
-                                else
-                                {
-                                        Sum_RC_Quality -= RC_Quality;
-                                        Sum_RC_Quality += 200 - Noise;
-                                }
                                 // calculate exponential history for signal
                 tmp = (3 * (PPM_in[index]) + signal) / 4;
                 if(tmp > signal+1) tmp--; else
                 if(tmp < signal-1) tmp++;
                 // calculate signal difference on good signal level
-                if(RC_Quality >= 170)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction
+                if(RC_Quality >= 195)  PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction
                 else PPM_diff[index] = 0;
                 PPM_in[index] = tmp; // update channel value
             }
             else
             {   // invalid PPM time
-                                Sum_RC_Quality /= 8;
+                                RC_Quality /= 2;
                         }
             index++; // next channel
             // demux sum signal for channels 5 to 7 to J3, J4, J5
 ,8 → 178,7
                 }
         }
         }
-        if(Sum_RC_Quality < 0) Sum_RC_Quality = 0;
-        RC_Quality = Sum_RC_Quality/128;
+        if(RC_Quality) RC_Quality--;
 }

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