| 61,8 → 61,8 |
|---|
| // The channel array is now 0-based. |
| volatile int16_t PPM_in[MAX_CHANNELS]; |
| volatile int16_t PPM_diff[MAX_CHANNELS]; |
| volatile uint8_t NewPpmData = 1; |
| volatile uint8_t RCQuality = 0; |
| volatile uint8_t newPPMData = 1; |
| volatile uint8_t RCQuality; |
| int16_t RC_PRTY[4]; |
| uint8_t lastRCCommand = COMMAND_NONE; |
| uint8_t commandTimer = 0; |
| 160,7 → 160,7 |
|---|
| // if a sync gap happens and there where at least 4 channels decoded before |
| // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
| if (index >= 3) { |
| NewPpmData = 0; // Null means NewData for the first 4 channels |
| newPPMData = 0; // Null means NewData for the first 4 channels |
| } |
| // synchronize channel index |
| index = 0; |
| 243,7 → 243,7 |
|---|
| int16_t tmp1, tmp2; |
| if (RCQuality) { |
| RCQuality--; |
| if (NewPpmData-- == 0) { |
| if (newPPMData-- == 0) { |
| RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.stickP |
| + RCDiff(CH_PITCH) * staticParams.stickD; |
| RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.stickP |
| 274,8 → 274,6 |
|---|
| RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] |
| = RC_PRTY[CONTROL_YAW] = 0; |
| } |
| |
| debugOut.analog[21] = RCQuality; |
| } |
| |
| /* |