Subversion Repositories FlightCtrl

Rev

Rev 2071 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 2071 Rev 2073
Line 109... Line 109...
109 
    if (index < MAX_CHANNELS) { // PPM24 supports 12 channels
 109 
    if (index < MAX_CHANNELS) { // PPM24 supports 12 channels
110 
      // check for valid signal length (0.8 ms < signal < 2.1984 ms)
 110 
      // check for valid signal length (0.8 ms < signal < 2.1984 ms)
111 
      // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625
 111 
      // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625
112 
      if ((signal > 250) && (signal < 687)) {
 112 
      if ((signal > 250) && (signal < 687)) {
113 
        // shift signal to zero symmetric range  -154 to 159
 113 
        // shift signal to zero symmetric range  -154 to 159
114 
        signal -= 470; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms)
 114 
        signal -= 475; // offset of 1.4912 ms ??? (469 * 3.2us = 1.5008 ms)
115 
        // check for stable signal
 115 
        // check for stable signal
116 
        if (abs(signal - PPM_in[index]) < 6) {
 116 
        if (abs(signal - PPM_in[index]) < 6) {
117 
          if (RCQuality < 200)
 117 
          if (RCQuality < 200)
118 
            RCQuality += 10;
 118 
            RCQuality += 10;
119 
          else
 119 
          else
Line 129... Line 129...
129 
        //  }
 129 
        //  }
130 
        } else
 130 
        } else
131 
          tmp = signal;
 131 
          tmp = signal;
132 
        // calculate signal difference on good signal level
 132 
        // calculate signal difference on good signal level
133 
        if (RCQuality >= 195)
 133 
        if (RCQuality >= 195)
134 
          PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction
 134 
          PPM_diff[index] = signal - PPM_in[index]; //((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction
135 
        else
 135 
        else
136 
          PPM_diff[index] = 0;
 136 
          PPM_diff[index] = 0;
137 
        PPM_in[index] = tmp; // update channel value
 137 
        PPM_in[index] = tmp; // update channel value
138 
      }
 138 
      }
139 
      index++; // next channel
 139 
      index++; // next channel