| 24,7 → 24,7 |
|---|
| #include "timer0.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| #include "uart.h" |
| #include "printf_P.h" |
| |
| #define MAX_AXIS_VALUE 500 |
| |
| 264,6 → 264,7 |
|---|
| /*********************************************/ |
| void MM3_Calibrate(void) |
| { |
| static uint8_t debugcounter = 0; |
| int16_t x_min = 0, x_max = 0, y_min = 0, y_max = 0, z_min = 0, z_max = 0; |
| uint8_t measurement = 50, beeper = 0; |
| uint16_t timer; |
| 274,6 → 275,17 |
|---|
| // get maximum and minimum reading of all axis |
| while (measurement) |
| { |
| // reset range markers if yawstick ist leftmost |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100) |
| { |
| x_min = 0; |
| x_max = 0; |
| y_min = 0; |
| y_max = 0; |
| z_min = 0; |
| z_max = 0; |
| } |
| |
| if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
| else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
| |
| 295,6 → 307,12 |
|---|
| timer = SetDelay(10); |
| while(!CheckDelay(timer)); |
| |
| if(debugcounter++ > 30) |
| { |
| printf("\n\rXMin:%4d, XMax:%4d, YMin:%4d, YMax:%4d, ZMin:%4d, ZMax:%4d",x_min,x_max,y_min,y_max,z_min,z_max); |
| debugcounter = 0; |
| } |
| |
| // If thrust is less than 100, stop calibration with a delay of 0.5 seconds |
| if (PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < 100) measurement--; |
| } |
| 330,8 → 348,6 |
|---|
| uint16_t div_factor; |
| int16_t heading; |
| |
| DebugOut.Analog[11] = MM3_Timeout; |
| |
| if (MM3_Timeout) |
| { |
| // Offset correction and normalization (values of H are +/- 512) |