| 13,7 → 13,7 |
|---|
| #include "output.h" |
| |
| // uint16_t maxControl[2] = { 0, 0 }; |
| uint16_t controlActivity = 0; |
| // uint16_t controlActivity = 0; |
| int16_t controls[4] = { 0, 0, 0, 0 }; |
| |
| // Internal variables for reading commands made with an R/C stick. |
| 81,6 → 81,7 |
|---|
| return rcQ > ecQ ? rcQ : ecQ; |
| } |
| |
| /* |
| void updateControlAndMeasureControlActivity(uint8_t index, int16_t newValue) { |
| int16_t tmp = controls[index]; |
| controls[index] = newValue; |
| 89,11 → 90,12 |
|---|
| tmp /= 2; |
| tmp = tmp * tmp; |
| // tmp += (newValue >= 0) ? newValue : -newValue; |
| /* |
| |
| / * |
| if (controlActivity + (uint16_t)tmp >= controlActivity) |
| controlActivity += tmp; |
| else controlActivity = 0xffff; |
| */ |
| * / |
| if (controlActivity + (uint16_t)tmp < 0x8000) |
| controlActivity += tmp; |
| } |
| 105,6 → 107,7 |
|---|
| tmp >>= CADAMPING; |
| controlActivity = tmp; |
| } |
| */ |
| |
| /* |
| * Update the variables indicating stick position from the sum of R/C, GPS and external control |
| 174,33 → 177,11 |
|---|
| |
| // Commit results to global variable and also measure control activity. |
| controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE]; |
| updateControlAndMeasureControlActivity(CONTROL_PITCH, tempPRTY[CONTROL_PITCH]); |
| updateControlAndMeasureControlActivity(CONTROL_ROLL, tempPRTY[CONTROL_ROLL]); |
| updateControlAndMeasureControlActivity(CONTROL_YAW, tempPRTY[CONTROL_YAW]); |
| dampenControlActivity(); |
| controls[CONTROL_PITCH] = tempPRTY[CONTROL_PITCH]; |
| controls[CONTROL_ROLL] = tempPRTY[CONTROL_ROLL]; |
| controls[CONTROL_YAW] = tempPRTY[CONTROL_YAW]; |
| // dampenControlActivity(); |
| |
| // We can safely do this even with a bad signal - the variables will not have been updated then. |
| configuration_applyVariablesToParams(); |
| |
| // part1a end. |
| |
| /* This is not really necessary with the dead-band feature on all sticks (see rc.c) |
| if(staticParams.GlobalConfig & (CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE)) { |
| if (controlYaw > 2) controlYaw-= 2; |
| else if (controlYaw< -2) controlYaw += 2; |
| else controlYaw = 0; |
| } |
| */ |
| |
| /* |
| * Record maxima. Predecessor of the control activity stuff. |
| for (axis = PITCH; axis <= ROLL; axis++) { |
| if (abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) { |
| maxControl[axis] = abs(control[axis]) / CONTROL_SCALING; |
| if (maxControl[axis] > 100) |
| maxControl[axis] = 100; |
| } else if (maxControl[axis]) |
| maxControl[axis]--; |
| } |
| */ |
| } |