74,7 → 74,7 |
} |
//+++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
if(FromCamCtrl.CamStatus & CAM_STATE_I2C_OK) CamCtrlTimeout = 3000; |
if(FromCamCtrl.CamStatus & CAM_STATE_I2C_OK) CamCtrlTimeout = 9000; |
} |
|
void CamCtrl_GetData(u8 timeout) |
143,7 → 143,7 |
memcpy((u8 *)&FromLaserCtrl, pRxBuffer, sizeof(FromLaserCtrl)); |
DebugOut.Analog[13] = FromLaserCtrl.Distance; |
if((FromLaserCtrl.LaserStatus & LASER_DATA_OK) && (FromLaserCtrl.Distance == 0)) FromLaserCtrl.Distance = 1; // just to mark that the value is active (0 -> not connected) |
LaserCtrlTimeout = 3000; |
LaserCtrlTimeout = 30000; |
} |
|
|
175,8 → 175,8 |
void GimbalCtrl_UpdateData(u8* pRxBuffer, u8 RxBufferSize) |
{ // if crc is ok and number of byte are matching |
memcpy((u8 *)&FromGimbalCtrl, pRxBuffer, sizeof(FromGimbalCtrl)); |
// if((FromGimbalCtrl.LaserStatus & GIMBAL_DATA_OK) && (FromLaserCtrl.Distance == 0)) FromLaserCtrl.Distance = 1; // just to mark that the value is active (0 -> not connected) |
GimbalCtrlTimeout = 6000; |
GimbalCtrlTimeout = 30000; |
//DebugOut.Analog[]++; |
} |
|
|
193,6 → 193,7 |
NickGimbal += MenuNickGimbalOffset / 50; |
|
if((old_nick != NickGimbal) && (timing < GIMBAL_DATARATE/2)) timing = 0; // Schneller, wenn sich die Daten ändern |
|
|
if(timing) |
{ |
201,6 → 202,7 |
else |
{ |
// try to catch the I2C buffer within timeout ms |
//DebugOut.Analog[]++; |
if(I2CBus_LockBuffer(I2C0, timeout)) |
{ |
u8 i, RxBytes = 1+6; // Status + 3 * Angle |
208,9 → 210,9 |
s32 min_n, max_n, min_r, max_r; |
// initiate transmission |
tmp = (s16) (FromFC_ServoRollControl - 128) * 4; |
if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) ToGimbalCtrl.Roll = -tmp; else ToGimbalCtrl.Roll = tmp; |
if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) ToGimbalCtrl.Roll = tmp; else ToGimbalCtrl.Roll = -tmp; |
// ToGimbalCtrl.Yaw = (s32) SerialChannel.Ch[0] * 3; |
ToGimbalCtrl.Yaw = (s32) (PPM_In[EE_Parameter.GimbalYawChannel]) * 2; |
ToGimbalCtrl.Yaw = (s32) (PPM_In[EE_Parameter.GimbalYawChannel]) * -2; |
if(FromMenuGimbalYaw) ToGimbalCtrl.Yaw = FromMenuGimbalYaw; |
ToGimbalCtrl.NRY_Speed = 100; |
ToGimbalCtrl.Filter = 5; |
246,7 → 248,7 |
old_nick = NickGimbal; |
|
} |
else timing = 11; // try again in 11ms |
else timing = 11; // try again in 11ms |
} |
} |
|