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Line 109... Line 109...
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    if (index < MAX_CHANNELS) { // PPM24 supports 12 channels
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    if (index < MAX_CHANNELS) { // PPM24 supports 12 channels
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      // check for valid signal length (0.8 ms < signal < 2.1984 ms)
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      // check for valid signal length (0.8 ms < signal < 2.1984 ms)
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      // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625
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      // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625
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      if ((signal > 250) && (signal < 687)) {
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      if ((signal > 250) && (signal < 687)) {
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        // shift signal to zero symmetric range  -154 to 159
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        // shift signal to zero symmetric range  -154 to 159
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        signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms)
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        signal -= 475; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms)
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        // check for stable signal
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        // check for stable signal
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        if (abs(signal - PPM_in[index]) < 6) {
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        if (abs(signal - PPM_in[index]) < 6) {
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          if (RCQuality < 200)
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          if (RCQuality < 200)
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            RCQuality += 10;
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            RCQuality += 10;
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          else
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          else
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        //  }
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        //  }
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        } else
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        } else
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          tmp = signal;
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          tmp = signal;
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        // calculate signal difference on good signal level
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        // calculate signal difference on good signal level
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        if (RCQuality >= 195)
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        if (RCQuality >= 195)
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          PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction
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          PPM_diff[index] = signal - PPM_in[index]; //((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction
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        else
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        else
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          PPM_diff[index] = 0;
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          PPM_diff[index] = 0;
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        PPM_in[index] = tmp; // update channel value
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        PPM_in[index] = tmp; // update channel value
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      }
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      }
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      index++; // next channel
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      index++; // next channel