Subversion Repositories FlightCtrl

Rev

Rev 2110 | Rev 2116 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 2110 Rev 2115
Line 14... Line 14...
14 
 
 14 
 
15 
uint8_t lastRCCommand = COMMAND_NONE;
 15 
uint8_t lastRCCommand = COMMAND_NONE;
Line 16... Line 16...
16 
uint8_t lastFlightMode = FLIGHT_MODE_NONE;
 16 
uint8_t lastFlightMode = FLIGHT_MODE_NONE;
- 
 
 17 
 
17 
 
 18 
#define TIME(s) ((int16_t)(((long)F_CPU/(long)8000)*(float)s))
18 
#define TIME(s) ((int16_t)(((long)F_CPU/(long)8000)*(float)s))
 19 
 
19 
/***************************************************************
 20 
/***************************************************************
20 
 *  16bit timer 1 is used to decode the PPM-Signal            
 21 
 *  16bit timer 1 is used to decode the PPM-Signal            
21 
 ***************************************************************/
 22 
 ***************************************************************/
Line 225... Line 226...
225 
  if (RCQuality >= 120)
 226 
  if (RCQuality >= 120)
226 
    return SIGNAL_BAD;
 227 
    return SIGNAL_BAD;
227 
  return SIGNAL_LOST;
 228 
  return SIGNAL_LOST;
228 
}
 229 
}
Line 229... Line -...
229 
 
 - 
 
230 
/*
 - 
 
231 
 * To should fired only when the right stick is in the center position.
 - 
 
232 
 * This will cause the value of pitch and roll stick to be adjusted
 - 
 
233 
 * to zero (not just to near zero, as per the assumption in rc.c
 - 
 
234 
 * about the rc signal. I had values about 50..70 with a Futaba
 - 
 
235 
 * R617 receiver.) This calibration is not strictly necessary, but
 - 
 
236 
 * for control logic that depends on the exact (non)center position
 - 
 
237 
 * of a stick, it may be useful.
 - 
 
238 
 */
 230 
 
239 
void RC_calibrate(void) {
 231 
void RC_calibrate(void) {
240 
  // Do nothing.
 232 
  // Do nothing.
- 
 
 233 
}
- 
 
 234 
 
- 
 
 235 
int16_t RC_getZeroThrottle() {
- 
 
 236 
        return TIME (-0.5);