| 74,7 → 74,7 |
|---|
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| if(FromCamCtrl.CamStatus & CAM_STATE_I2C_OK) CamCtrlTimeout = 3000; |
| if(FromCamCtrl.CamStatus & CAM_STATE_I2C_OK) CamCtrlTimeout = 9000; |
| } |
| |
| void CamCtrl_GetData(u8 timeout) |
| 143,7 → 143,7 |
|---|
| memcpy((u8 *)&FromLaserCtrl, pRxBuffer, sizeof(FromLaserCtrl)); |
| DebugOut.Analog[13] = FromLaserCtrl.Distance; |
| if((FromLaserCtrl.LaserStatus & LASER_DATA_OK) && (FromLaserCtrl.Distance == 0)) FromLaserCtrl.Distance = 1; // just to mark that the value is active (0 -> not connected) |
| LaserCtrlTimeout = 3000; |
| LaserCtrlTimeout = 30000; |
| } |
| |
| |
| 175,8 → 175,8 |
|---|
| void GimbalCtrl_UpdateData(u8* pRxBuffer, u8 RxBufferSize) |
| { // if crc is ok and number of byte are matching |
| memcpy((u8 *)&FromGimbalCtrl, pRxBuffer, sizeof(FromGimbalCtrl)); |
| // if((FromGimbalCtrl.LaserStatus & GIMBAL_DATA_OK) && (FromLaserCtrl.Distance == 0)) FromLaserCtrl.Distance = 1; // just to mark that the value is active (0 -> not connected) |
| GimbalCtrlTimeout = 6000; |
| GimbalCtrlTimeout = 30000; |
| //DebugOut.Analog[]++; |
| } |
| |
| |
| 193,6 → 193,7 |
|---|
| NickGimbal += MenuNickGimbalOffset / 50; |
| |
| if((old_nick != NickGimbal) && (timing < GIMBAL_DATARATE/2)) timing = 0; // Schneller, wenn sich die Daten ändern |
| |
| |
| if(timing) |
| { |
| 201,6 → 202,7 |
|---|
| else |
| { |
| // try to catch the I2C buffer within timeout ms |
| //DebugOut.Analog[]++; |
| if(I2CBus_LockBuffer(I2C0, timeout)) |
| { |
| u8 i, RxBytes = 1+6; // Status + 3 * Angle |
| 208,9 → 210,9 |
|---|
| s32 min_n, max_n, min_r, max_r; |
| // initiate transmission |
| tmp = (s16) (FromFC_ServoRollControl - 128) * 4; |
| if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) ToGimbalCtrl.Roll = -tmp; else ToGimbalCtrl.Roll = tmp; |
| if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) ToGimbalCtrl.Roll = tmp; else ToGimbalCtrl.Roll = -tmp; |
| // ToGimbalCtrl.Yaw = (s32) SerialChannel.Ch[0] * 3; |
| ToGimbalCtrl.Yaw = (s32) (PPM_In[EE_Parameter.GimbalYawChannel]) * 2; |
| ToGimbalCtrl.Yaw = (s32) (PPM_In[EE_Parameter.GimbalYawChannel]) * -2; |
| if(FromMenuGimbalYaw) ToGimbalCtrl.Yaw = FromMenuGimbalYaw; |
| ToGimbalCtrl.NRY_Speed = 100; |
| ToGimbalCtrl.Filter = 5; |
| 246,7 → 248,7 |
|---|
| old_nick = NickGimbal; |
| |
| } |
| else timing = 11; // try again in 11ms |
| else timing = 11; // try again in 11ms |
| } |
| } |
| |