| 136,21 → 136,21 |
|---|
| // Instead, while away the time by flashing the 2 outputs: |
| // First J16, then J17. Makes it easier to see which is which. |
| timer = SetDelay(200); |
| J16_ON; |
| OUTPUT_ON(0); |
| GRN_OFF; |
| RED_ON; |
| while(!CheckDelay(timer)); |
| |
| timer = SetDelay(200); |
| J16_OFF; |
| OUTPUT_OFF(0); |
| OUTPUT_ON(1); |
| RED_OFF; |
| GRN_ON; |
| J17_ON; |
| while(!CheckDelay(timer)); |
| |
| timer = SetDelay(200); |
| while(!CheckDelay(timer)); |
| J17_OFF; |
| OUTPUT_OFF(1); |
| |
| twi_diagnostics(); |
| |
| 186,7 → 186,7 |
|---|
| else printf("\n\rSupport for GPS at 1st UART"); |
| #endif |
| |
| controlMixer_setNeutral(0); |
| controlMixer_setNeutral(); |
| |
| // Cal. attitude sensors and reset integrals. |
| attitude_setNeutral(); |
| 218,7 → 218,13 |
|---|
| flight_control(); |
| J4LOW; |
| |
| sendMotorData(); // the flight control code |
| /* |
| * If the motors are running (MKFlags & MKFLAG_MOTOR_RUN in flight.c), transmit |
| * the throttle vector just computed. Otherwise, if motor test is engaged, transmit |
| * the test throttle vector. If no testing, stop all motors. |
| */ |
| // Obsoleted. |
| // transmitMotorThrottleData(); |
| |
| RED_OFF; |
| |
| 269,9 → 275,13 |
|---|
| usart0_ProcessRxData(); |
| |
| if(CheckDelay(timer)) { |
| if(UBat < staticParams.LowVoltageWarning) { |
| if (UBat <= UBAT_AT_5V) { |
| // Do nothing. The voltage on the input side of the regulator is <5V; |
| // we must be running off USB power. Keep it quiet. |
| } else if(UBat < staticParams.LowVoltageWarning) { |
| beepBatteryAlarm(); |
| } |
| |
| #ifdef USE_NAVICTRL |
| SPI_StartTransmitPacket(); |
| SendSPI = 4; |