| 62,7 → 62,7 |
|---|
| volatile int16_t PPM_in[MAX_CHANNELS]; |
| volatile int16_t PPM_diff[MAX_CHANNELS]; |
| volatile uint8_t NewPpmData = 1; |
| volatile uint8_t RC_Quality = 0; |
| volatile uint8_t RCQuality = 0; |
| int16_t RC_PRTY[4]; |
| uint8_t lastRCCommand = COMMAND_NONE; |
| uint8_t commandTimer = 0; |
| 114,7 → 114,7 |
|---|
| TIMSK1 &= ~((1<<OCIE1B) | (1<<OCIE1A) | (1<<TOIE1)); |
| TIMSK1 |= (1<<ICIE1); |
| |
| RC_Quality = 0; |
| RCQuality = 0; |
| |
| SREG = sreg; |
| } |
| 173,10 → 173,10 |
|---|
| signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms) |
| // check for stable signal |
| if (abs(signal - PPM_in[index]) < 6) { |
| if (RC_Quality < 200) |
| RC_Quality += 10; |
| if (RCQuality < 200) |
| RCQuality += 10; |
| else |
| RC_Quality = 200; |
| RCQuality = 200; |
| } |
| // If signal is the same as before +/- 1, just keep it there. |
| if (signal >= PPM_in[index] - 1 && signal <= PPM_in[index] + 1) { |
| 189,7 → 189,7 |
|---|
| } else |
| tmp = signal; |
| // calculate signal difference on good signal level |
| if (RC_Quality >= 195) |
| if (RCQuality >= 195) |
| PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
| else |
| PPM_diff[index] = 0; |
| 241,8 → 241,8 |
|---|
| */ |
| void RC_update() { |
| int16_t tmp1, tmp2; |
| if (RC_Quality) { |
| RC_Quality--; |
| if (RCQuality) { |
| RCQuality--; |
| if (NewPpmData-- == 0) { |
| RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.stickP |
| + RCDiff(CH_PITCH) * staticParams.stickD; |
| 274,6 → 274,8 |
|---|
| RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] |
| = RC_PRTY[CONTROL_YAW] = 0; |
| } |
| |
| debugOut.analog[21] = RCQuality; |
| } |
| |
| /* |
| 298,11 → 300,11 |
|---|
| } |
| |
| uint8_t RC_getSignalQuality(void) { |
| if (RC_Quality >= 160) |
| if (RCQuality >= 160) |
| return SIGNAL_GOOD; |
| if (RC_Quality >= 140) |
| if (RCQuality >= 140) |
| return SIGNAL_OK; |
| if (RC_Quality >= 120) |
| if (RCQuality >= 120) |
| return SIGNAL_BAD; |
| return SIGNAL_LOST; |
| } |