Rev 2103 | Rev 2107 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2103 | Rev 2104 | ||
|---|---|---|---|
| Line 11... | Line 11... | ||
| 11 | // The channel array is 0-based! |
11 | // The channel array is 0-based! |
| 12 | volatile int16_t PPM_in[MAX_CHANNELS]; |
12 | volatile int16_t PPM_in[MAX_CHANNELS]; |
| 13 | volatile uint8_t RCQuality; |
13 | volatile uint8_t RCQuality; |
| Line 14... | Line 14... | ||
| 14 | 14 | ||
| 15 | uint8_t lastRCCommand = COMMAND_NONE; |
- | |
| 16 | uint8_t commandTimer = 0; |
- | |
| 17 | 15 | uint8_t lastRCCommand = COMMAND_NONE; |
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| Line 18... | Line 16... | ||
| 18 | uint8_t lastFlightMode = FLIGHT_MODE_NONE; |
16 | uint8_t lastFlightMode = FLIGHT_MODE_NONE; |
| 19 | 17 | ||
| 20 | /*************************************************************** |
18 | /*************************************************************** |
| Line 174... | Line 172... | ||
| 174 | lastRCCommand = COMMAND_CHMOD; |
172 | lastRCCommand = COMMAND_CHMOD; |
| 175 | return lastRCCommand; |
173 | return lastRCCommand; |
| 176 | } |
174 | } |
| Line 177... | Line 175... | ||
| 177 | 175 | ||
| - | 176 | int16_t channel = RCChannel(CH_THROTTLE); |
|
| 178 | int16_t channel = RCChannel(CH_THROTTLE); |
177 | |
| 179 | if (channel <= -140) { // <= 900 us |
- | |
| 180 | if (commandTimer == COMMAND_TIMER) { |
178 | if (channel <= -140) { // <= 900 us |
| 181 | lastRCCommand = COMMAND_GYROCAL; |
- | |
| 182 | } |
- | |
| 183 | if (commandTimer <= COMMAND_TIMER) { |
- | |
| 184 | commandTimer++; |
- | |
| 185 | } |
179 | lastRCCommand = COMMAND_GYROCAL; |
| 186 | } else { |
- | |
| 187 | commandTimer = 0; |
180 | } else { |
| 188 | lastRCCommand = COMMAND_NONE; |
181 | lastRCCommand = COMMAND_NONE; |
| 189 | } |
182 | } |
| 190 | return lastRCCommand; |
183 | return lastRCCommand; |
| Line 208... | Line 201... | ||
| 208 | 201 | ||
| 209 | PRYT[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) * RC_SCALING; |
202 | PRYT[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) * RC_SCALING; |
| 210 | PRYT[CONTROL_AILERONS] = RCChannel(CH_AILERONS) * RC_SCALING; |
203 | PRYT[CONTROL_AILERONS] = RCChannel(CH_AILERONS) * RC_SCALING; |
| 211 | PRYT[CONTROL_RUDDER] = RCChannel(CH_RUDDER) * RC_SCALING; |
204 | PRYT[CONTROL_RUDDER] = RCChannel(CH_RUDDER) * RC_SCALING; |
| 212 | PRYT[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) * RC_SCALING; |
- | |
| 213 | - | ||
| 214 | uint8_t command = COMMAND_NONE; //RC_getStickCommand(); |
- | |
| 215 | if (lastRCCommand == command) { |
- | |
| 216 | // Keep timer from overrunning. |
- | |
| 217 | if (commandTimer < COMMAND_TIMER) |
- | |
| 218 | commandTimer++; |
- | |
| 219 | } else { |
- | |
| 220 | // There was a change. |
- | |
| 221 | lastRCCommand = command; |
- | |
| 222 | commandTimer = 0; |
- | |
| 223 | } |
205 | PRYT[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) * RC_SCALING; |
| 224 | } // if RCQuality is no good, we just do nothing. |
206 | } // if RCQuality is no good, we just do nothing. |
| Line 225... | Line 207... | ||
| 225 | } |
207 | } |
| 226 | 208 | ||