Subversion Repositories FlightCtrl

Rev

Rev 2108 | Rev 2119 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 2108 Rev 2110
Line 32... Line 32...
32 
  WDTCSR |= (1 << WDCE) | (1 << WDE);
 32 
  WDTCSR |= (1 << WDCE) | (1 << WDE);
33 
  WDTCSR = 0;
 33 
  WDTCSR = 0;
Line 34... Line 34...
34 
 
 34 
 
35 
// This is strange: It should NOT be necessarty to do. But the call of the same,
 35 
// This is strange: It should NOT be necessarty to do. But the call of the same,
36 
// in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,....
 36 
// in channelMap_readOrDefault (if eeprom read fails) just sets all to 0,0,0,....
Line 37... Line 37...
37 
channelMap_default();
 37 
  channelMap_default();
38 
 
 38 
 
39 
  // initalize modules
 39 
  // initalize modules
40 
  output_init();
 40 
  output_init();
Line 74... Line 74...
74 
  RED_ON;
 74 
  RED_ON;
75 
  while (!checkDelay(timer))
 75 
  while (!checkDelay(timer))
76 
    ;
 76 
    ;
Line 77... Line 77...
77 
 
 77 
 
78 
  timer = setDelay(200);
 78 
  timer = setDelay(200);
79 
  outputSet(0,0);
 79 
  outputSet(0, 0);
80 
  outputSet(1,1);
 80 
  outputSet(1, 1);
81 
  RED_OFF;
 81 
  RED_OFF;
82 
  GRN_ON;
 82 
  GRN_ON;
83 
  while (!checkDelay(timer))
 83 
  while (!checkDelay(timer))
Line 117... Line 117...
117 
      if (!analogDataReady) {
 117 
      if (!analogDataReady) {
118 
        // Analog data should have been ready but is not!!
 118 
        // Analog data should have been ready but is not!!
119 
        debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;
 119 
        debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;
120 
      } else {
 120 
      } else {
121 
        debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;
 121 
        debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;
122 
 
 122 
          }
123 
        J4HIGH;
 123 
        J4HIGH;
124 
        // This is probably the correct order:
 124 
        // This is probably the correct order:
125 
        // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level)
 125 
        // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level)
126 
        // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc.
 126 
        // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc.
127 
        // Flight control uses results from both.
 127 
        // Flight control uses results from both.
Line 169... Line 169...
169 
          if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error.
 169 
          if (runFlightControl) { // Time for the next iteration was up before the current finished. Signal error.
170 
        debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER;
 170 
        debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER;
171 
      } else {
 171 
      } else {
172 
        debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;
 172 
        debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER;
173 
          }      
 173 
          }      
174 
    }
 - 
 
175 
  }
 174 
  }
176 
  return (1);
 175 
  return (1);
177 
}
 176 
}