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Compare Revisions

• This comparison shows the changes necessary to convert path

  → /branches/ @ 1795

  → /branches/ @ 1796

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 1795 → Rev 1796

/branches/dongfang_FC_rewrite/mm3.c
File deleted

/branches/dongfang_FC_rewrite/mm3.h
File deleted

/branches/dongfang_FC_rewrite/ubx.c
File deleted

/branches/dongfang_FC_rewrite/ubx.h
File deleted

/branches/dongfang_FC_rewrite/Flight-Ctrl_MEGA644p_NAVICTRL__ADXRS610_FC2.0_V0_74df_SVN0001.hex
File deleted

/branches/dongfang_FC_rewrite/.cproject
0,0 → 1,778
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/branches/dongfang_FC_rewrite/.externalToolBuilders/Build.launch
0,0 → 1,13
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="org.eclipse.ui.externaltools.ProgramBuilderLaunchConfigurationType">
<mapAttribute key="org.eclipse.debug.core.environmentVariables">
<mapEntry key="PATH" value="C:\WinAVR-20100110\bin;C:\WinAVR-20100110\utils\bin;%SystemRoot%\system32;%SystemRoot%;%SystemRoot%\System32\Wbem;%SYSTEMROOT%\System32\WindowsPowerShell\v1.0\;C:\WinAVR-20100110\utils\bin"/>
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<booleanAttribute key="org.eclipse.debug.ui.ATTR_LAUNCH_IN_BACKGROUND" value="false"/>
<booleanAttribute key="org.eclipse.ui.externaltools.ATTR_BUILDER_ENABLED" value="true"/>
<stringAttribute key="org.eclipse.ui.externaltools.ATTR_LOCATION" value="C:\WinAVR-20100110\utils\bin\make.exe"/>
<stringAttribute key="org.eclipse.ui.externaltools.ATTR_RUN_BUILD_KINDS" value="full,incremental,"/>
<stringAttribute key="org.eclipse.ui.externaltools.ATTR_TOOL_ARGUMENTS" value="all"/>
<booleanAttribute key="org.eclipse.ui.externaltools.ATTR_TRIGGERS_CONFIGURED" value="true"/>
<stringAttribute key="org.eclipse.ui.externaltools.ATTR_WORKING_DIRECTORY" value="${workspace_loc:/dongfang_FC_rewrite}"/>
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/branches/dongfang_FC_rewrite/.externalToolBuilders/Clean.launch
0,0 → 1,14
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="org.eclipse.ui.externaltools.ProgramBuilderLaunchConfigurationType">
<stringAttribute key="org.eclipse.debug.core.ATTR_REFRESH_SCOPE" value="${workspace}"/>
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<mapEntry key="PATH" value="C:\WinAVR-20100110\bin;C:\WinAVR-20100110\utils\bin;%SystemRoot%\system32;%SystemRoot%;%SystemRoot%\System32\Wbem;%SYSTEMROOT%\System32\WindowsPowerShell\v1.0\;C:\WinAVR-20100110\utils\bin"/>
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<booleanAttribute key="org.eclipse.debug.ui.ATTR_LAUNCH_IN_BACKGROUND" value="false"/>
<booleanAttribute key="org.eclipse.ui.externaltools.ATTR_BUILDER_ENABLED" value="false"/>
<stringAttribute key="org.eclipse.ui.externaltools.ATTR_LOCATION" value="C:\WinAVR-20100110\utils\bin\make.exe"/>
<stringAttribute key="org.eclipse.ui.externaltools.ATTR_RUN_BUILD_KINDS" value="full,"/>
<stringAttribute key="org.eclipse.ui.externaltools.ATTR_TOOL_ARGUMENTS" value="clean all"/>
<booleanAttribute key="org.eclipse.ui.externaltools.ATTR_TRIGGERS_CONFIGURED" value="true"/>
<stringAttribute key="org.eclipse.ui.externaltools.ATTR_WORKING_DIRECTORY" value="${workspace_loc:/dongfang_FC_rewrite}"/>
</launchConfiguration>

/branches/dongfang_FC_rewrite/.externalToolBuilders/org.eclipse.cdt.managedbuilder.core.genmakebuilder.launch
0,0 → 1,21
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="org.eclipse.ui.externaltools.ProgramBuilderLaunchConfigurationType">
<booleanAttribute key="org.eclipse.ui.externaltools.ATTR_BUILDER_ENABLED" value="false"/>
<stringAttribute key="org.eclipse.ui.externaltools.ATTR_DISABLED_BUILDER" value="org.eclipse.cdt.managedbuilder.core.genmakebuilder"/>
<mapAttribute key="org.eclipse.ui.externaltools.ATTR_TOOL_ARGUMENTS">
<mapEntry key="?name?" value=""/>
<mapEntry key="org.eclipse.cdt.make.core.append_environment" value="true"/>
<mapEntry key="org.eclipse.cdt.make.core.autoBuildTarget" value="all"/>
<mapEntry key="org.eclipse.cdt.make.core.buildArguments" value=""/>
<mapEntry key="org.eclipse.cdt.make.core.buildCommand" value="make"/>
<mapEntry key="org.eclipse.cdt.make.core.cleanBuildTarget" value="clean"/>
<mapEntry key="org.eclipse.cdt.make.core.contents" value="org.eclipse.cdt.make.core.activeConfigSettings"/>
<mapEntry key="org.eclipse.cdt.make.core.enableAutoBuild" value="false"/>
<mapEntry key="org.eclipse.cdt.make.core.enableCleanBuild" value="true"/>
<mapEntry key="org.eclipse.cdt.make.core.enableFullBuild" value="true"/>
<mapEntry key="org.eclipse.cdt.make.core.fullBuildTarget" value="all"/>
<mapEntry key="org.eclipse.cdt.make.core.stopOnError" value="true"/>
<mapEntry key="org.eclipse.cdt.make.core.useDefaultBuildCmd" value="true"/>
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<booleanAttribute key="org.eclipse.ui.externaltools.ATTR_TRIGGERS_CONFIGURED" value="true"/>
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/branches/dongfang_FC_rewrite/.settings/org.eclipse.cdt.core.prefs
0,0 → 1,4
#Thu Nov 18 19:42:56 CET 2010
eclipse.preferences.version=1
environment/project/0.213957337/append=true
environment/project/0.213957337/appendContributed=false

/branches/dongfang_FC_rewrite/analog.c
64,6 → 64,9
// For reading and writing acc. meter offsets.
#include "eeprom.h"
// For DebugOut.Digital
#include "output.h"
/*
* For each A/D conversion cycle, each analog channel is sampled a number of times
* (see array channelsForStates), and the results for each channel are summed.
241,6 → 244,10
}
}
/*
* Min.: 0
* Max: About 106 * 240 + 2047 = 27487; it is OK with just a 16 bit type.
*/
uint16_t getSimplePressure(int advalue) {
return (uint16_t)OCR0A * (uint16_t)rangewidth + advalue;
}
308,14 → 315,17
if (pressureAutorangingWait) {
//A range switch was done recently. Wait for steadying.
pressureAutorangingWait--;
DebugOut.Analog[27] = (uint16_t)OCR0A;
DebugOut.Analog[31] = simpleAirPressure;
break;
}
rawAirPressure = sensorInputs[AD_AIRPRESSURE];
if (rawAirPressure < MIN_RAWPRESSURE) {
// value is too low, so decrease voltage on the op amp minus input, making the value higher.
newrange = OCR0A - (MAX_RAWPRESSURE - rawAirPressure) / rangewidth - 1;
newrange = OCR0A - (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (MAX_RAWPRESSURE - rawAirPressure) / (rangewidth * 2) + 1;
if (newrange > MIN_RANGES_EXTRAPOLATION) {
pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR;
pressureAutorangingWait = (OCR0A - newrange) * AUTORANGE_WAIT_FACTOR; // = OCRA0 - OCRA0 +
OCR0A = newrange;
} else {
if (OCR0A) {
326,7 → 336,7
} else if (rawAirPressure > MAX_RAWPRESSURE) {
// value is too high, so increase voltage on the op amp minus input, making the value lower.
// If near the end, make a limited increase
newrange = OCR0A + (rawAirPressure - MIN_RAWPRESSURE) / rangewidth - 1;
newrange = OCR0A + (MAX_RAWPRESSURE - MIN_RAWPRESSURE) / (rangewidth * 4); // 4; // (rawAirPressure - MIN_RAWPRESSURE) / (rangewidth * 2) - 1;
if (newrange < MAX_RANGES_EXTRAPOLATION) {
pressureAutorangingWait = (newrange - OCR0A) * AUTORANGE_WAIT_FACTOR;
OCR0A = newrange;
340,30 → 350,34
// Even if the sample is off-range, use it.
simpleAirPressure = getSimplePressure(rawAirPressure);
DebugOut.Analog[27] = (uint16_t)OCR0A;
DebugOut.Analog[31] = simpleAirPressure;
if (simpleAirPressure < MIN_RANGES_EXTRAPOLATION * rangewidth) {
// Danger: pressure near lower end of range. If the measurement saturates, the
// copter may climb uncontrolled... Simulate a drastic reduction in pressure.
airPressureSum += (int16_t)MIN_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int32_t)MIN_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
// copter may climb uncontrolledly... Simulate a drastic reduction in pressure.
airPressureSum += (int16_t)MIN_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int16_t)MIN_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
} else if (simpleAirPressure > MAX_RANGES_EXTRAPOLATION * rangewidth) {
// Danger: pressure near upper end of range. If the measurement saturates, the
// copter may fall uncontrolled... Simulate a drastic increase in pressure.
airPressureSum += (int16_t)MAX_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int32_t)MAX_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
// copter may descend uncontrolledly... Simulate a drastic increase in pressure.
airPressureSum += (int16_t)MAX_RANGES_EXTRAPOLATION * rangewidth + (simpleAirPressure - (int16_t)MAX_RANGES_EXTRAPOLATION * rangewidth) * PRESSURE_EXTRAPOLATION_COEFF;
} else {
// normal case.
airPressureSum += simpleAirPressure;
// If AIRPRESSURE_SUMMATION_FACTOR is an odd number we only want to add half the double sample.
// The 2 cases above (end of range) are ignored for this.
if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR - 1)
airPressureSum += simpleAirPressure / 2;
else
airPressureSum += simpleAirPressure;
}
// 2 samples were added.
pressureMeasurementCount += 2;
if (pressureMeasurementCount == AIRPRESSURE_SUMMATION_FACTOR) {
if (pressureMeasurementCount >= AIRPRESSURE_SUMMATION_FACTOR) {
filteredAirPressure = (filteredAirPressure * (AIRPRESSURE_FILTER-1) + airPressureSum + AIRPRESSURE_FILTER/2) / AIRPRESSURE_FILTER;
pressureMeasurementCount = airPressureSum = 0;
}
// DebugOut.Analog[14] = OCR0A;
// DebugOut.Analog[15] = simpleAirPressure;
DebugOut.Analog[11] = UBat;
DebugOut.Analog[27] = acc[Z];
break;
case 15:
425,6 → 439,7
// Battery. The measured value is: (V * 1k/11k)/3v * 1024 = 31.03 counts per volt (max. measurable is 33v).
// This is divided by 3 --> 10.34 counts per volt.
UBat = (3 * UBat + sensorInputs[AD_UBAT] / 3) / 4;
DebugOut.Analog[11] = UBat;
analogDataReady = 1; // mark
ADCycleCount++;
// Stop the sampling. Cycle is over.
483,9 → 498,6
// airPressureSum = simpleAirPressure * (AIRPRESSURE_SUMMATION_FACTOR/2);
// pressureMeasurementCount = 0;
// Experiment!
// filteredAirPressureOffset = filteredAirPressure - 1000L;
Delay_ms_Mess(100);
}
530,29 → 542,28
// Set the feedback so that air pressure ends up in the middle of the range.
// (raw pressure high --> OCR0A also high...)
// OCR0A += (rawAirPressure - 512) / rangewidth;
// Delay_ms_Mess(500);
/*
pressureDiff = 0;
// DebugOut.Analog[16] = rawAirPressure;
OCR0A += ((rawAirPressure - 1024) / rangewidth) - 1;
Delay_ms_Mess(1000);
#define PRESSURE_CAL_CYCLE_COUNT 2
for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {
pressureDiff = 0;
// DebugOut.Analog[16] = rawAirPressure;
#define PRESSURE_CAL_CYCLE_COUNT 5
for (i=0; i<PRESSURE_CAL_CYCLE_COUNT; i++) {
savedRawAirPressure = rawAirPressure;
OCR0A++;
Delay_ms_Mess(200);
OCR0A+=2;
Delay_ms_Mess(500);
// raw pressure will decrease.
pressureDiff += (savedRawAirPressure - rawAirPressure);
savedRawAirPressure = rawAirPressure;
OCR0A--;
Delay_ms_Mess(200);
OCR0A-=2;
Delay_ms_Mess(500);
// raw pressure will increase.
pressureDiff += (rawAirPressure - savedRawAirPressure);
}
// DebugOut.Analog[16] =
rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2);
}
rangewidth = (pressureDiff + PRESSURE_CAL_CYCLE_COUNT * 2 * 2 - 1) / (PRESSURE_CAL_CYCLE_COUNT * 2 * 2);
DebugOut.Analog[27] = rangewidth;
*/
}

/branches/dongfang_FC_rewrite/analog.h
211,10 → 211,11
/*
* Air pressure.
* The sensor has a sensitivity of 46 mV/kPa.
* An approximate p(h) formula is = p(h[m])[Pa] = p_0 - 1195 * 10^-6 * h
*
* An approximate p(h) formula is = p(h[m])[Pa] = p_0 - 11.95 * 10^-3 * h
* That is: dV = 46 mV * 11.95 * 10^-3 dh = 0.5497 mV / m.
* That is, with 2 * 1.024 / 3 steps per mV: 0.037 steps / m
*/
#define AIRPRESSURE_SUMMATION_FACTOR 14
#define AIRPRESSURE_SUMMATION_FACTOR 16
#define AIRPRESSURE_FILTER 8
// Minimum A/D value before a range change is performed.
#define MIN_RAWPRESSURE (200 * 2)
221,14 → 222,13
// Maximum A/D value before a range change is performed.
#define MAX_RAWPRESSURE (1023 * 2 - MIN_RAWPRESSURE)
#define MIN_RANGES_EXTRAPOLATION 10
#define MAX_RANGES_EXTRAPOLATION 250
#define MIN_RANGES_EXTRAPOLATION 15
#define MAX_RANGES_EXTRAPOLATION 240
#define PRESSURE_EXTRAPOLATION_COEFF 25L
#define AUTORANGE_WAIT_FACTOR 1
extern volatile uint16_t simpleAirPressure;
extern volatile int32_t filteredAirPressure;
/*
* At saturation, the filteredAirPressure may actually be (simulated) negative.
*/

/branches/dongfang_FC_rewrite/commands.c
74,7 → 74,7
// check roll/pitch stick position
// if pitch stick is top or roll stick is left or right --> change parameter setting
// according to roll/pitch stick position
if (argument < 6) {
// Gyro calinbration, with or without selecting a new parameter-set.
if(argument > 0 && argument < 6) {
93,7 → 93,7
beep(1000);
}
}
// save the ACC neutral setting to eeprom
else {
if(command == COMMAND_ACCCAL && !repeated) {

/branches/dongfang_FC_rewrite/controlMixer.c
174,7 → 174,7
// part1a end.
/* This is not really necessary with the pull-towards-zero of all sticks (see rc.c)
/* This is not really necessary with the dead-gap feature on all sticks (see rc.c)
if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) {
if (controlYaw > 2) controlYaw-= 2;
else if (controlYaw< -2) controlYaw += 2;

/branches/dongfang_FC_rewrite/eeprom.h
12,15 → 12,6
#define PID_ACC_ROLL 6 // word
#define PID_ACC_Z 8 // word
#ifdef USE_KILLAGREG
#define PID_MM3_X_OFF 11 // byte
#define PID_MM3_Y_OFF 12 // byte
#define PID_MM3_Z_OFF 13 // byte
#define PID_MM3_X_RANGE 14 // word
#define PID_MM3_Y_RANGE 16 // word
#define PID_MM3_Z_RANGE 18 // word
#endif
#define EEPROM_ADR_CHANNELS 80 // 8 bytes
#define EEPROM_ADR_PARAMSET_LENGTH 98 // word

/branches/dongfang_FC_rewrite/flight.c
175,27 → 175,16
uint8_t i, axis;
controlMixer_update();
// Fire the main flight attitude calculation, including integration of angles.
calculateFlightAttitude();
/*
* TODO: update should: Set the stick variables if good signal, set them to zero if bad.
* Set variables also.
*/
// start part 1: 750-800 usec.
// start part 1a: 750-800 usec.
// start part1b: 700 usec
// start part1c: 700 usec!!!!!!!!! WAY too slow.
controlMixer_update();
// end part1c
throttleTerm = controlThrottle;
// This check removed. Is done on a per-motor basis, after output matrix multiplication.
// if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10;
// else if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20);
// end part1b: 700 usec.
/************************************************************************/
/* RC-signal is bad */
/* This part could be abstracted, as having yet another control input */
467,9 → 456,8
DebugOut.Analog[25] = yawAngleDiff / 100L;
DebugOut.Analog[26] = accNoisePeak[PITCH];
DebugOut.Analog[27] = accNoisePeak[ROLL];
*/
DebugOut.Analog[30] = gyroNoisePeak[PITCH];
DebugOut.Analog[31] = gyroNoisePeak[ROLL];
*/
}
}

/branches/dongfang_FC_rewrite/gps.c
50,7 → 50,6
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include <inttypes.h>
#include <stdlib.h>
#include "ubx.h"
//#include "mymath.h"
#include "timer0.h"
#include "uart0.h"

/branches/dongfang_FC_rewrite/heightControl.c
43,7 → 43,6
uint8_t HeightP; // Value : 0-32
uint8_t Height_Gain; // Value : 0-50
uint8_t Height_ACC_Effect; // Value : 0-250
*/
int32_t getHeight(void) {
99,8 → 98,8
}
}
//DebugOut.Analog[16] = (int16_t)(height / 10);
//DebugOut.Analog[17] = (int16_t)(rampedTargetHeight / 10);
// height, in meters (so the division factor is: 100)
DebugOut.Analog[30] = height / 100;
}
// ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL

/branches/dongfang_FC_rewrite/menu.c
60,10 → 60,6
#include "twimaster.h"
#include "attitude.h"
#if (defined (USE_MK3MAG))
#include "ubx.h"
#endif
#if (!defined (USE_MK3MAG))
uint8_t MaxMenuItem = 13;
#else

/branches/dongfang_FC_rewrite/old_macros.h
0,0 → 1,47
/*
For backwards compatibility only.
Ingo Busker ingo@mikrocontroller.com
*/
#ifndef cbi
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#endif
#ifndef sbi
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
#endif
#ifndef inb
#define inb(sfr) _SFR_BYTE(sfr)
#endif
#ifndef outb
#define outb(sfr, val) (_SFR_BYTE(sfr) = (val))
#endif
#ifndef inw
#define inw(sfr) _SFR_WORD(sfr)
#endif
#ifndef outw
#define outw(sfr, val) (_SFR_WORD(sfr) = (val))
#endif
#ifndef outp
#define outp(val, sfr) outb(sfr, val)
#endif
#ifndef inp
#define inp(sfr) inb(sfr)
#endif
#ifndef BV
#define BV(bit) _BV(bit)
#endif
#ifndef PRG_RDB
#define PRG_RDB pgm_read_byte
#endif

/branches/dongfang_FC_rewrite/output.c
88,6 → 88,10
}
}
/*
* Set to 0 for using outputs as the usual flashing lights.
* Set to one of the DEBUG_... constants in output.h for using the outputs as debug lights.
*/
#define DIGITAL_DEBUG_MASK 0
// invert means: An "1" bit in digital debug data will feed NO base current to output transistor.

/branches/dongfang_FC_rewrite/output.h
18,6 → 18,7
#define DEBUG_HOVERTHROTTLE 4
#define DEBUG_ACC0THORDER 8
#define DEBUG_COMMANDREPEATED 16
#define DEBUG_PRESSURERANGE 32
void output_init(void);
void output_update(void);

/branches/dongfang_FC_rewrite/rc.c
168,46 → 168,45
// synchronize channel index
index = 1;
} else { // within the PPM frame
if(index < MAX_CHANNELS-1) // PPM24 supports 12 channels
{
// check for valid signal length (0.8 ms < signal < 2.1984 ms)
// signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625
if((signal > 250) && (signal < 687)) {
// shift signal to zero symmetric range -154 to 159
signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms)
// check for stable signal
if(abs(signal - PPM_in[index]) < 6) {
if(RC_Quality < 200) RC_Quality +=10;
else RC_Quality = 200;
}
// If signal is the same as before +/- 1, just keep it there.
if (signal>=PPM_in[index]-1 && signal<=PPM_in[index]+1) {
// In addition, if the signal is very close to 0, just set it to 0.
if (signal >=-1 && signal <= 1) {
tmp = 0;
} else {
tmp = PPM_in[index];
}
}
else
tmp = signal;
// calculate signal difference on good signal level
if(RC_Quality >= 195)
PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction
else PPM_diff[index] = 0;
PPM_in[index] = tmp; // update channel value
if(index < MAX_CHANNELS-1) { // PPM24 supports 12 channels
// check for valid signal length (0.8 ms < signal < 2.1984 ms)
// signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625
if((signal > 250) && (signal < 687)) {
// shift signal to zero symmetric range -154 to 159
signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms)
// check for stable signal
if(abs(signal - PPM_in[index]) < 6) {
if(RC_Quality < 200) RC_Quality +=10;
else RC_Quality = 200;
}
// If signal is the same as before +/- 1, just keep it there.
if (signal>=PPM_in[index]-1 && signal<=PPM_in[index]+1) {
// In addition, if the signal is very close to 0, just set it to 0.
if (signal >=-1 && signal <= 1) {
tmp = 0;
} else {
tmp = PPM_in[index];
}
index++; // next channel
// demux sum signal for channels 5 to 7 to J3, J4, J5
// TODO: General configurability of this R/C channel forwarding. Or remove it completely - the
// channels are usually available at the receiver anyway.
// if(index == 5) J3HIGH; else J3LOW;
// if(index == 6) J4HIGH; else J4LOW;
// if(CPUType != ATMEGA644P) // not used as TXD1
// {
// if(index == 7) J5HIGH; else J5LOW;
// }
}
else
tmp = signal;
// calculate signal difference on good signal level
if(RC_Quality >= 195)
PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction
else PPM_diff[index] = 0;
PPM_in[index] = tmp; // update channel value
}
index++; // next channel
// demux sum signal for channels 5 to 7 to J3, J4, J5
// TODO: General configurability of this R/C channel forwarding. Or remove it completely - the
// channels are usually available at the receiver anyway.
// if(index == 5) J3HIGH; else J3LOW;
// if(index == 6) J4HIGH; else J4LOW;
// if(CPUType != ATMEGA644P) // not used as TXD1
// {
// if(index == 7) J5HIGH; else J5LOW;
// }
}
}
}
246,9 → 245,9
if(RC_Quality) {
RC_Quality--;
if (NewPpmData-- == 0) {
RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP - /* stickOffsetPitch */ + RCDiff(CH_PITCH) * staticParams.StickD;
RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP - /* stickOffsetRoll */ + RCDiff(CH_ROLL) * staticParams.StickD;
RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + PPM_diff[staticParams.ChannelAssignment[CH_THROTTLE]] * dynamicParams.UserParams[3] + 120;
RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP + RCDiff(CH_PITCH) * staticParams.StickD;
RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP + RCDiff(CH_ROLL) * staticParams.StickD;
RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) * dynamicParams.UserParams[3] + 120;
if (RC_PRTY[CONTROL_THROTTLE] < 0) RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative.
tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW);
// exponential stick sensitivity in yawing rate

/branches/dongfang_FC_rewrite/uart0.c
66,9 → 66,6
#include "externalControl.h"
#include "output.h"
#if defined (USE_MK3MAG)
#include "ubx.h"
#endif
#ifdef USE_MK3MAG
#include "mk3mag.h"
#endif
152,11 → 149,11
"M3 ",
"M4 ", //25
"ControlYaw ",
"Acc Z ",
"Airpress. Range ",
"DriftCompPitch ",
"DriftCompRoll ",
"Pitch Noise ", //30
"Roll Noise "
"AirpressFiltered", //30
"AirpressADC "
};
/****************************************************************/
271,11 → 268,6
c = UDR0; // catch the received byte
#if (defined (USE_MK3MAG))
// If the cpu is not an Atmega644P the ublox module should be conneced to rxd of the 1st uart.
if(CPUType != ATMEGA644P) ubx_parser(c);
#endif
if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return
// the rxd buffer is unlocked

/branches/dongfang_FC_rewrite/uart1.c
53,7 → 53,6
#include "uart1.h"
#include "configuration.h"
#if defined (USE_MK3MAG)
#include "ubx.h"
#else
#ifdef USE_RC_DSL
#include "dsl.h"
150,9 → 149,6
ISR(USART1_RX_vect) {
uint8_t c;
c = UDR1; // get data byte
#if defined (USE_MK3MAG)
ubx_parser(c); // and put it into the ubx protocol parser
#else
#ifdef USE_RC_DSL
dsl_parser(c); // parse dsl data stream
#endif
159,5 → 155,4
#ifdef USE_RC_SPECTRUM
spectrum_parser(c); // parse spectrum data stream
#endif
#endif
}