| 32,7 → 32,7 |
|---|
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| 129,11 → 129,11 |
|---|
| /********************************************************************/ |
| /* t-Frame |
| <-----------------------------------------------------------------------> |
| ____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | | |
| | | | | | | | | | | | |
| ___| |_| |_| |_| |_.............| |________________| |
| <-----><-------><------><--------> <------> <--- |
| ____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | | |
| | | | | | | | | | | | |
| ___| |_| |_| |_| |_.............| |________________| |
| <-----><-------><------><--------> <------> <--- |
| t0 t1 t2 t4 tn t0 |
| |
| The PPM-Frame length is 22.5 ms. |
| 251,6 → 251,9 |
|---|
| if (NewPpmData-- == 0) { |
| RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP |
| + RCDiff(CH_PITCH) * staticParams.StickD; |
| |
| DebugOut.Analog[21] = RCChannel(CH_THROTTLE); |
| |
| RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP |
| + RCDiff(CH_ROLL) * staticParams.StickD; |
| RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |