| 912,15 → 912,18 |
|---|
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC |
| { |
| static int16_t stick_nick = 0, stick_roll = 0; |
| |
| ParameterMapping(); // remapping params (online poti replacement) |
| |
| // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickP) / 4; |
| StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickD; |
| StickNick -= (GPSStickNick); |
| stick_nick = (stick_nick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickP) / 4; |
| stick_nick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickD; |
| StickNick = stick_nick - GPSStickNick; |
| |
| StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4; |
| StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD; |
| StickRoll -= (GPSStickRoll); |
| stick_roll = (stick_roll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4; |
| stick_roll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD; |
| StickRoll = stick_roll - GPSStickRoll; |
| |
| // mapping of yaw |
| StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |