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Compare Revisions

• This comparison shows the changes necessary to convert path

  → /branches/dongfang_FC_rewrite/controlMixer.c @ 2048

  → /branches/dongfang_FC_rewrite/controlMixer.c @ 2049

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 2048 → Rev 2049

/branches/dongfang_FC_rewrite/controlMixer.c
121,9 → 121,35
int16_t tempPRTY[4];
void controlMixer_periodicTask(void) {
// calculate Stick inputs by rc channels (P) and changing of rc channels (D)
// TODO: If no signal --> zero.
// HC_periodicTask();
// Decode commands.
uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand()
: COMMAND_NONE;
uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand()
: COMMAND_NONE;
// Update variables ("potis").
if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) {
controlMixer_updateVariables();
controlMixer_didReceiveSignal = 1;
} else { // Signal is not OK
// Could handle switch to emergency flight here.
// throttle is handled elsewhere.
}
if (rcCommand != COMMAND_NONE) {
isCommandRepeated = (lastCommand == rcCommand);
lastCommand = rcCommand;
lastArgument = RC_getArgument();
} else if (ecCommand != COMMAND_NONE) {
isCommandRepeated = (lastCommand == ecCommand);
lastCommand = ecCommand;
lastArgument = EC_getArgument();
} else {
// Both sources have no command, or one or both are out.
// Just set to false. There is no reason to check if the none-command was repeated anyway.
isCommandRepeated = 0;
lastCommand = COMMAND_NONE;
}
// This will init the values (not just add to them).
RC_periodicTaskAndPRTY(tempPRTY);
151,15 → 177,6
debugOut.analog[17] = controlActivity/10;
// Update variables ("potis").
if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) {
controlMixer_updateVariables();
controlMixer_didReceiveSignal = 1;
} else { // Signal is not OK
// Could handle switch to emergency flight here.
// throttle is handled elsewhere.
}
// We can safely do this even with a bad signal - the variables will not have been updated then.
configuration_applyVariablesToParams();
184,25 → 201,4
maxControl[axis]--;
}
*/
// Decode commands.
uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand()
: COMMAND_NONE;
uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand()
: COMMAND_NONE;
if (rcCommand != COMMAND_NONE) {
isCommandRepeated = (lastCommand == rcCommand);
lastCommand = rcCommand;
lastArgument = RC_getArgument();
} else if (ecCommand != COMMAND_NONE) {
isCommandRepeated = (lastCommand == ecCommand);
lastCommand = ecCommand;
lastArgument = EC_getArgument();
} else {
// Both sources have no command, or one or both are out.
// Just set to false. There is no reason to check if the none-command was repeated anyway.
isCommandRepeated = 0;
lastCommand = COMMAND_NONE;
}
}