| 56,6 → 56,10 |
|---|
| #include "controlMixer.h" |
| #include "configuration.h" |
| |
| // for DebugOut only. |
| #include "uart0.h" |
| |
| |
| // The channel array is 1-based. The 0th entry is not used. |
| volatile int16_t PPM_in[MAX_CHANNELS]; |
| volatile int16_t PPM_diff[MAX_CHANNELS]; |
| 127,7 → 131,7 |
|---|
| ____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | | |
| | | | | | | | | | | | |
| ___| |_| |_| |_| |_.............| |________________| |
| ___| |_| |_| |_| |_.............| |________________| |
| <-----><-------><------><--------> <------> <--- |
| t0 t1 t2 t4 tn t0 |
| |
| 212,8 → 216,12 |
|---|
| if(RC_Quality) { |
| RC_Quality--; |
| if (NewPpmData-- == 0) { |
| |
| DebugOut.Analog[12] = stickOffsetPitch; |
| DebugOut.Analog[13] = stickOffsetRoll; |
| |
| RC_PRTY[CONTROL_PITCH] = (RCChannel(CH_PITCH) - stickOffsetPitch) * staticParams.StickP + RCDiff(CH_PITCH) * staticParams.StickD; |
| RC_PRTY[CONTROL_ROLL] = (RCChannel(CH_ROLL) - stickOffsetRoll) * staticParams.StickP + RCDiff(CH_ROLL) * staticParams.StickD; |
| RC_PRTY[CONTROL_ROLL] = (RCChannel(CH_ROLL) - stickOffsetRoll) * staticParams.StickP + RCDiff(CH_ROLL) * staticParams.StickD; |
| RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + PPM_diff[staticParams.ChannelAssignment[CH_THROTTLE]] * dynamicParams.UserParams[6] + 120; |
| if (RC_PRTY[CONTROL_THROTTLE] < 0) RC_PRTY[CONTROL_THROTTLE] = 0; // Throttle is non negative. |
| tmp1 = -RCChannel(CH_YAW) - RCDiff(CH_YAW); |
| 276,8 → 284,8 |
|---|
| // In HH, it s OK to trim the R/C. The effect should not be conteracted here. |
| stickOffsetPitch = stickOffsetRoll = 0; |
| } else { |
| stickOffsetPitch += RCChannel(CH_PITCH); |
| stickOffsetRoll += RCChannel(CH_ROLL); |
| stickOffsetPitch = RCChannel(CH_PITCH); |
| stickOffsetRoll = RCChannel(CH_ROLL); |
| } |
| } |
| |