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| Rev 1869 | Rev 1872 | ||
|---|---|---|---|
| Line 141... | Line 141... | ||
| 141 | */ |
141 | */ |
| 142 | void controlMixer_update(void) { |
142 | void controlMixer_update(void) { |
| 143 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
143 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| 144 | // TODO: If no signal --> zero. |
144 | // TODO: If no signal --> zero. |
| 145 | uint8_t axis; |
145 | uint8_t axis; |
| - | 146 | int16_t tempThrottle; |
|
| Line 146... | Line 147... | ||
| 146 | 147 | ||
| 147 | // takes almost no time... |
148 | // takes almost no time... |
| Line 148... | Line 149... | ||
| 148 | RC_update(); |
149 | RC_update(); |
| Line 156... | Line 157... | ||
| 156 | int16_t* RC_PRTY = RC_getPRTY(); |
157 | int16_t* RC_PRTY = RC_getPRTY(); |
| 157 | int16_t* EC_PRTY = EC_getPRTY(); |
158 | int16_t* EC_PRTY = EC_getPRTY(); |
| Line 158... | Line 159... | ||
| 158 | 159 | ||
| 159 | control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
160 | control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
| 160 | control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
- | |
| - | 161 | control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
|
| 161 | // This can be a CPU time killer if the function implementations are inefficient. |
162 | |
| 162 | controlThrottle = AC_getThrottle(HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] |
163 | tempThrottle = HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]); |
| - | 164 | controlThrottle = AC_getThrottle(tempThrottle); |
|
| 163 | + EC_PRTY[CONTROL_THROTTLE])); |
165 | |
| Line 164... | Line 166... | ||
| 164 | controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
166 | controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
| 165 | 167 | ||
| Line 216... | Line 218... | ||
| 216 | // Just set to false. There is no reason to check if the none-command was repeated anyway. |
218 | // Just set to false. There is no reason to check if the none-command was repeated anyway. |
| 217 | isCommandRepeated = 0; |
219 | isCommandRepeated = 0; |
| 218 | lastCommand = COMMAND_NONE; |
220 | lastCommand = COMMAND_NONE; |
| 219 | } |
221 | } |
| Line -... | Line 222... | ||
| - | 222 | ||
| 220 | 223 | /* |
|
| 221 | if (isCommandRepeated) |
224 | if (isCommandRepeated) |
| 222 | DebugOut.Digital[0] |= DEBUG_COMMANDREPEATED; |
225 | DebugOut.Digital[0] |= DEBUG_COMMANDREPEATED; |
| 223 | else |
226 | else |
| 224 | DebugOut.Digital[0] &= ~DEBUG_COMMANDREPEATED; |
227 | DebugOut.Digital[0] &= ~DEBUG_COMMANDREPEATED; |
| 225 | if (rcCommand) |
228 | if (rcCommand) |
| 226 | DebugOut.Digital[1] |= DEBUG_COMMANDREPEATED; |
229 | DebugOut.Digital[1] |= DEBUG_COMMANDREPEATED; |
| 227 | else |
230 | else |
| 228 | DebugOut.Digital[1] &= ~DEBUG_COMMANDREPEATED; |
231 | DebugOut.Digital[1] &= ~DEBUG_COMMANDREPEATED; |
| 229 | - | ||
| 230 | // part1 end. |
232 | */ |
| Line 231... | Line 233... | ||
| 231 | } |
233 | } |
| 232 | 234 | ||
| 233 | // TODO: Integrate into command system. |
235 | // TODO: Integrate into command system. |