| 218,55 → 218,16 |
|---|
| while (1) { |
| if (runFlightControl) { // control interval |
| runFlightControl = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
| if (!analogDataReady) { |
| DebugOut.Digital[0] |= DEBUG_MAINLOOP_TIMER; |
| } else { |
| DebugOut.Digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
| |
| DebugOut.Digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
| DebugOut.Digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
| |
| if (analogDataReady) { |
| // J4HIGH; |
| J4HIGH; |
| flight_control(); |
| // J4LOW; |
| J4LOW; |
| |
| /* |
| * If the motors are running (MKFlags & MKFLAG_MOTOR_RUN in flight.c), transmit |
| * the throttle vector just computed. Otherwise, if motor test is engaged, transmit |
| * the test throttle vector. If no testing, stop all motors. |
| */ |
| // Obsoleted. |
| // transmitMotorThrottleData(); |
| |
| RED_OFF; |
| |
| /* |
| Does not belong here. Instead, external control should be ignored in |
| controlMixer if there was no new data from there for some time. |
| if(externalControlActive) externalControlActive--; |
| else { |
| externalControl.config = 0; |
| externalStickPitch = 0; |
| externalStickRoll = 0; |
| externalStickYaw = 0; |
| } |
| */ |
| |
| /* |
| Does not belong here. |
| if(RC_Quality) RC_Quality--; |
| */ |
| |
| /* Does not belong here. Well since we are not supporting navi right now anyway, leave out. |
| #ifdef USE_NAVICTRL |
| if(NCDataOkay) { |
| if(--NCDataOkay == 0) // no data from NC |
| { // set gps control sticks neutral |
| GPSStickPitch = 0; |
| GPSStickRoll = 0; |
| NCSerialDataOkay = 0; |
| } |
| } |
| #endif |
| */ |
| if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing ot timeout |
| if (!--I2CTimeout || missingMotor) { // try to reset the i2c if motor is missing or timeout |
| RED_ON; |
| if (!I2CTimeout) { |
| I2C_Reset(); |
| 279,8 → 240,6 |
|---|
| // Allow Serial Data Transmit if motors must not updated or motors are not running |
| if (!runFlightControl || !(MKFlags & MKFLAG_MOTOR_RUN)) { |
| usart0_TransmitTxData(); |
| } else { |
| DebugOut.Digital[1] |= DEBUG_MAINLOOP_TIMER; |
| } |
| |
| usart0_ProcessRxData(); |