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| Rev 1796 | Rev 1821 | ||
|---|---|---|---|
| Line 118... | Line 118... | ||
| 118 | void controlMixer_updateVariables(void) { |
118 | void controlMixer_updateVariables(void) { |
| 119 | uint8_t i; |
119 | uint8_t i; |
| 120 | int16_t targetvalue; |
120 | int16_t targetvalue; |
| 121 | for (i=0; i<8; i++) { |
121 | for (i = 0; i < 8; i++) { |
| 122 | targetvalue = RC_getVariable(i); |
122 | targetvalue = RC_getVariable(i); |
| 123 | if (targetvalue < 0) targetvalue = 0; |
123 | if (targetvalue < 0) |
| - | 124 | targetvalue = 0; |
|
| - | 125 | if (variables[i] < targetvalue && variables[i] < 255) |
|
| - | 126 | variables[i]++; |
|
| 124 | if (variables[i] < targetvalue && variables[i] < 255) variables[i]++; else if(variables[i] > 0 && variables[i] > targetvalue) variables[i]--; |
127 | else if (variables[i] > 0 && variables[i] > targetvalue) |
| - | 128 | variables[i]--; |
|
| 125 | } |
129 | } |
| 126 | } |
130 | } |
| Line 127... | Line 131... | ||
| 127 | 131 | ||
| 128 | uint8_t controlMixer_getSignalQuality(void) { |
132 | uint8_t controlMixer_getSignalQuality(void) { |
| Line 153... | Line 157... | ||
| 153 | int16_t* EC_PRTY = EC_getPRTY(); |
157 | int16_t* EC_PRTY = EC_getPRTY(); |
| Line 154... | Line 158... | ||
| 154 | 158 | ||
| 155 | control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
159 | control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
| 156 | control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
160 | control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
| 157 | // This can be a CPU time killer if the function implementations are inefficient. |
161 | // This can be a CPU time killer if the function implementations are inefficient. |
| - | 162 | controlThrottle = HC_getThrottle(AC_getThrottle(RC_PRTY[CONTROL_THROTTLE] |
|
| 158 | controlThrottle = HC_getThrottle(AC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE])); |
163 | + EC_PRTY[CONTROL_THROTTLE])); |
| Line 159... | Line 164... | ||
| 159 | controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
164 | controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
| 160 | 165 | ||
| 161 | DebugOut.Analog[12] = control[PITCH]; |
166 | DebugOut.Analog[12] = control[PITCH]; |
| Line 186... | Line 191... | ||
| 186 | * Record maxima |
191 | * Record maxima |
| 187 | */ |
192 | */ |
| 188 | for (axis=PITCH; axis<=ROLL; axis++) { |
193 | for (axis = PITCH; axis <= ROLL; axis++) { |
| 189 | if(abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) { |
194 | if (abs(control[axis] / CONTROL_SCALING) > maxControl[axis]) { |
| 190 | maxControl[axis] = abs(control[axis]) / CONTROL_SCALING; |
195 | maxControl[axis] = abs(control[axis]) / CONTROL_SCALING; |
| 191 | if(maxControl[axis] > 100) maxControl[axis] = 100; |
196 | if (maxControl[axis] > 100) |
| - | 197 | maxControl[axis] = 100; |
|
| 192 | } else if (maxControl[axis]) maxControl[axis]--; |
198 | } else if (maxControl[axis]) |
| - | 199 | maxControl[axis]--; |
|
| 193 | } |
200 | } |
| Line 194... | Line 201... | ||
| 194 | 201 | ||
| - | 202 | uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() |
|
| 195 | uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand() : COMMAND_NONE; |
203 | : COMMAND_NONE; |
| - | 204 | uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() |
|
| Line 196... | Line 205... | ||
| 196 | uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand() : COMMAND_NONE; |
205 | : COMMAND_NONE; |
| 197 | 206 | ||
| 198 | if (rcCommand != COMMAND_NONE) { |
207 | if (rcCommand != COMMAND_NONE) { |
| 199 | isCommandRepeated = (lastCommand == rcCommand); |
208 | isCommandRepeated = (lastCommand == rcCommand); |
| Line 208... | Line 217... | ||
| 208 | // Just set to false. There is no reason to check if the none-command was repeated anyway. |
217 | // Just set to false. There is no reason to check if the none-command was repeated anyway. |
| 209 | isCommandRepeated = 0; |
218 | isCommandRepeated = 0; |
| 210 | lastCommand = COMMAND_NONE; |
219 | lastCommand = COMMAND_NONE; |
| 211 | } |
220 | } |
| Line -... | Line 221... | ||
| - | 221 | ||
| - | 222 | if (isCommandRepeated) |
|
| - | 223 | DebugOut.Digital[0] |= DEBUG_COMMANDREPEATED; |
|
| 212 | 224 | else |
|
| - | 225 | DebugOut.Digital[0] &= ~DEBUG_COMMANDREPEATED; |
|
| - | 226 | if (rcCommand) |
|
| - | 227 | DebugOut.Digital[1] |= DEBUG_COMMANDREPEATED; |
|
| 213 | if (isCommandRepeated) DebugOut.Digital[0] |= DEBUG_COMMANDREPEATED; else DebugOut.Digital[0] &= ~DEBUG_COMMANDREPEATED; |
228 | else |
| Line 214... | Line 229... | ||
| 214 | if (rcCommand) DebugOut.Digital[1] |= DEBUG_COMMANDREPEATED; else DebugOut.Digital[1] &= ~DEBUG_COMMANDREPEATED; |
229 | DebugOut.Digital[1] &= ~DEBUG_COMMANDREPEATED; |
| 215 | 230 | ||
| Line 216... | Line 231... | ||
| 216 | // part1 end. |
231 | // part1 end. |