| 52,7 → 52,7 |
|---|
| if((PWMCount) && (PWMCount < 400)) |
| { |
| if(PWMCount <9) PWMHeading = 0; |
| else PWMHeading = ((uint32_t)(PWMCount - 9) * 1049L) >> 10; // correct timebase and offset |
| else PWMHeading = ((uint32_t)(PWMCount - 9) * 1049L)/1024; // correct timebase and offset |
| PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
| // 12 * 400 counts * 102.4 us = 419 ms |
| } |
| 68,8 → 68,6 |
|---|
| { |
| int16_t heading, w, v; |
| |
| DebugOut.Analog[11] = PWMTimeout; |
| |
| if(PWMTimeout) |
| { |
| w = abs(IntegralPitch / 512); |