| 107,7 → 107,7 |
|---|
| */ |
| |
| void controlMixer_periodicTask(void) { |
| int16_t tempPRTY[4] = { 0, 0, 0, 0 }; |
| int16_t tempPRYT[4] = { 0, 0, 0, 0 }; |
| |
| // Decode commands. |
| uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE; |
| 139,18 → 139,18 |
|---|
| } |
| |
| // This will init the values (not just add to them). |
| RC_periodicTaskAndPRTY(tempPRTY); |
| RC_periodicTaskAndPRYT(tempPRYT); |
| |
| // Add external control to RC |
| EC_periodicTaskAndPRTY(tempPRTY); |
| EC_periodicTaskAndPRYT(tempPRYT); |
| |
| FC_periodicTaskAndPRTY(tempPRTY); |
| FC_periodicTaskAndPRYT(tempPRYT); |
| |
| // Commit results to global variable and also measure control activity. |
| controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE]; |
| controls[CONTROL_ELEVATOR] = tempPRTY[CONTROL_ELEVATOR]; |
| controls[CONTROL_AILERONS] = tempPRTY[CONTROL_AILERONS]; |
| controls[CONTROL_RUDDER] = tempPRTY[CONTROL_RUDDER]; |
| controls[CONTROL_THROTTLE] = tempPRYT[CONTROL_THROTTLE]; |
| controls[CONTROL_ELEVATOR] = tempPRYT[CONTROL_ELEVATOR]; |
| controls[CONTROL_AILERONS] = tempPRYT[CONTROL_AILERONS]; |
| controls[CONTROL_RUDDER] = tempPRYT[CONTROL_RUDDER]; |
| // dampenControlActivity(); |
| |
| // We can safely do this even with a bad signal - the variables will not have been updated then. |