WebSVN - FlightCtrl - Diff - Rev 1775 and 1796 - /branches/dongfang_FC

       NewPpmData = 0;  // Null means NewData for the first 4 channels
+    }
     // synchronize channel index
     index = 1;
   } else { // within the PPM frame
-    if(index < MAX_CHANNELS-1) // PPM24 supports 12 channels
+    if(index < MAX_CHANNELS-1) { // PPM24 supports 12 channels
-      {
-        // check for valid signal length (0.8 ms < signal < 2.1984 ms)
+      // check for valid signal length (0.8 ms < signal < 2.1984 ms)
-        // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625
+      // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625
-        if((signal > 250) && (signal < 687)) {
+      if((signal > 250) && (signal < 687)) {
-            // shift signal to zero symmetric range  -154 to 159
+        // shift signal to zero symmetric range  -154 to 159
-            signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms)
+        signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms)
-            // check for stable signal
+        // check for stable signal
-            if(abs(signal - PPM_in[index]) < 6) {
+        if(abs(signal - PPM_in[index]) < 6) {
-              if(RC_Quality < 200) RC_Quality +=10;
+          if(RC_Quality < 200) RC_Quality +=10;
-              else RC_Quality = 200;
+          else RC_Quality = 200;
-            }
+        }
-            // If signal is the same as before +/- 1, just keep it there.
+        // If signal is the same as before +/- 1, just keep it there.
-            if (signal>=PPM_in[index]-1 && signal<=PPM_in[index]+1) {
+        if (signal>=PPM_in[index]-1 && signal<=PPM_in[index]+1) {
-              // In addition, if the signal is very close to 0, just set it to 0.
+          // In addition, if the signal is very close to 0, just set it to 0.
-              if (signal >=-1 && signal <= 1) {
+          if (signal >=-1 && signal <= 1) {
-                tmp = 0;
+            tmp = 0;
-              } else {
+          } else {
-                tmp = PPM_in[index];
+            tmp = PPM_in[index];
-              }
-            }
-            else
-              tmp = signal;
-            // calculate signal difference on good signal level
-            if(RC_Quality >= 195)
-              PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction
-            else PPM_diff[index] = 0;
-            PPM_in[index] = tmp; // update channel value
+          }
+        }
+        else
-        index++; // next channel
+          tmp = signal;
-        // demux sum signal for channels 5 to 7 to J3, J4, J5
+        // calculate signal difference on good signal level
-        // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the
-        // channels are usually available at the receiver anyway.
-        // if(index == 5) J3HIGH; else J3LOW;
+        if(RC_Quality >= 195)
-        // if(index == 6) J4HIGH; else J4LOW;
+          PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction
-        // if(CPUType != ATMEGA644P) // not used as TXD1
+        else PPM_diff[index] = 0;
-        //  {
-        //    if(index == 7) J5HIGH; else J5LOW;
+        PPM_in[index] = tmp; // update channel value
-        //  }
+      }
+      index++; // next channel
+      // demux sum signal for channels 5 to 7 to J3, J4, J5
+      // TODO: General configurability of this R/C channel forwarding. Or remove it completely - the
+      // channels are usually available at the receiver anyway.
+      // if(index == 5) J3HIGH; else J3LOW;
+      // if(index == 6) J4HIGH; else J4LOW;
+      // if(CPUType != ATMEGA644P) // not used as TXD1
+      //  {
+      //    if(index == 7) J5HIGH; else J5LOW;
+      //  }
+    }
+  }
+}
 #define RCChannel(dimension) PPM_in[staticParams.ChannelAssignment[dimension]]
 void RC_update() {
   int16_t tmp1, tmp2;
   if(RC_Quality) {
     RC_Quality--;
     if (NewPpmData-- == 0) {
-      RC_PRTY[CONTROL_PITCH]    = RCChannel(CH_PITCH) * staticParams.StickP - /* stickOffsetPitch */ + RCDiff(CH_PITCH) * staticParams.StickD;
+      RC_PRTY[CONTROL_PITCH]    = RCChannel(CH_PITCH) * staticParams.StickP + RCDiff(CH_PITCH) * staticParams.StickD;
-      RC_PRTY[CONTROL_ROLL]     = RCChannel(CH_ROLL)  * staticParams.StickP - /* stickOffsetRoll */  + RCDiff(CH_ROLL)  * staticParams.StickD;
+      RC_PRTY[CONTROL_ROLL]     = RCChannel(CH_ROLL)  * staticParams.StickP + RCDiff(CH_ROLL)  * staticParams.StickD;
-      RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + PPM_diff[staticParams.ChannelAssignment[CH_THROTTLE]] * dynamicParams.UserParams[3] + 120;
+      RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE)                    + RCDiff(CH_THROTTLE) * dynamicParams.UserParams[3] + 120;
       if (RC_PRTY[CONTROL_THROTTLE] < 0) RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative.
       tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW);
       // exponential stick sensitivity in yawing rate
       tmp2 = (int32_t) staticParams.StickYawP * ((int32_t)tmp1 * abs(tmp1)) / 512L; // expo  y = ax + bx^2
       tmp2 += (staticParams.StickYawP * tmp1) / 4;

Subversion Repositories FlightCtrl

(root)/branches/dongfang_FC_rewrite/rc.c - Rev 1775 → 1796