| 34,7 → 34,7 |
|---|
| |
| // This is strange: It should NOT be necessarty to do. But the call of the same, |
| // in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,.... |
| channelMap_default(); |
| // channelMap_default(); |
| |
| // initalize modules |
| output_init(); |
| 48,6 → 48,7 |
|---|
| // Parameter Set handling |
| IMUConfig_readOrDefault(); |
| channelMap_readOrDefault(); |
| rcTrim_readOrDefault(); |
| paramSet_readOrDefault(); |
| |
| // enable interrupts global |
| 138,32 → 139,21 |
|---|
| |
| usart0_processRxData(); |
| |
| static uint8_t aboveWarningLimitVoltageSeen = 0; |
| |
| if (checkDelay(timer)) { |
| if (UBat <= UBAT_AT_5V) { |
| // Do nothing. The voltage on the input side of the regulator is <5V; |
| // we must be running off USB power. Keep it quiet. |
| } else if (UBat < staticParams.batteryWarningVoltage) { |
| beepBatteryAlarm(); |
| if (UBat >= staticParams.batteryWarningVoltage) { |
| aboveWarningLimitVoltageSeen = 1; |
| } else { // If we are above USB voltage, or if we have once been above warning voltage |
| if (aboveWarningLimitVoltageSeen || UBat > UBAT_AT_5V) { |
| beepBatteryAlarm(); |
| } |
| } |
| |
| #ifdef USE_NAVICTRL |
| SPI_StartTransmitPacket(); |
| SendSPI = 4; |
| #endif |
| timer = setDelay(20); // every 20 ms |
| } |
| output_update(); |
| } |
| |
| #ifdef USE_NAVICTRL |
| if(!SendSPI) { |
| // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
| // within the SPI_TransmitByte() routine the value is set to 4. |
| // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
| // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
| SPI_TransmitByte(); |
| } |
| #endif |
| calculateFeaturedServoValues(); |
| |
| if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error. |