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Line 14... | Line 14... | ||
14 | 14 | ||
15 | uint8_t lastRCCommand = COMMAND_NONE; |
15 | uint8_t lastRCCommand = COMMAND_NONE; |
Line 16... | Line 16... | ||
16 | uint8_t lastFlightMode = FLIGHT_MODE_NONE; |
16 | uint8_t lastFlightMode = FLIGHT_MODE_NONE; |
- | 17 | ||
17 | 18 | #define TIME(s) ((int16_t)(((long)F_CPU/(long)8000)*(float)s)) |
|
18 | #define TIME(s) ((int16_t)(((long)F_CPU/(long)8000)*(float)s)) |
19 | |
19 | /*************************************************************** |
20 | /*************************************************************** |
20 | * 16bit timer 1 is used to decode the PPM-Signal |
21 | * 16bit timer 1 is used to decode the PPM-Signal |
21 | ***************************************************************/ |
22 | ***************************************************************/ |
Line 225... | Line 226... | ||
225 | if (RCQuality >= 120) |
226 | if (RCQuality >= 120) |
226 | return SIGNAL_BAD; |
227 | return SIGNAL_BAD; |
227 | return SIGNAL_LOST; |
228 | return SIGNAL_LOST; |
228 | } |
229 | } |
Line 229... | Line -... | ||
229 | - | ||
230 | /* |
- | |
231 | * To should fired only when the right stick is in the center position. |
- | |
232 | * This will cause the value of pitch and roll stick to be adjusted |
- | |
233 | * to zero (not just to near zero, as per the assumption in rc.c |
- | |
234 | * about the rc signal. I had values about 50..70 with a Futaba |
- | |
235 | * R617 receiver.) This calibration is not strictly necessary, but |
- | |
236 | * for control logic that depends on the exact (non)center position |
- | |
237 | * of a stick, it may be useful. |
- | |
238 | */ |
230 | |
239 | void RC_calibrate(void) { |
231 | void RC_calibrate(void) { |
240 | // Do nothing. |
232 | // Do nothing. |
- | 233 | } |
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- | 234 | ||
- | 235 | int16_t RC_getZeroThrottle() { |
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- | 236 | return TIME (-0.5); |