| 143,6 → 143,7 |
|---|
| // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| // TODO: If no signal --> zero. |
| uint8_t axis; |
| int16_t tempThrottle; |
| |
| // takes almost no time... |
| RC_update(); |
| 158,9 → 159,10 |
|---|
| |
| control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
| control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
| // This can be a CPU time killer if the function implementations are inefficient. |
| controlThrottle = AC_getThrottle(HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] |
| + EC_PRTY[CONTROL_THROTTLE])); |
| |
| tempThrottle = HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]); |
| controlThrottle = AC_getThrottle(tempThrottle); |
| |
| controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
| |
| DebugOut.Analog[12] = control[PITCH]; |
| 218,6 → 220,7 |
|---|
| lastCommand = COMMAND_NONE; |
| } |
| |
| /* |
| if (isCommandRepeated) |
| DebugOut.Digital[0] |= DEBUG_COMMANDREPEATED; |
| else |
| 226,8 → 229,7 |
|---|
| DebugOut.Digital[1] |= DEBUG_COMMANDREPEATED; |
| else |
| DebugOut.Digital[1] &= ~DEBUG_COMMANDREPEATED; |
| |
| // part1 end. |
| */ |
| } |
| |
| // TODO: Integrate into command system. |