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64 | { |
64 | { |
65 | signal -= 466; |
65 | signal -= 466; |
66 | // Stabiles Signal |
66 | // Stabiles Signal |
67 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
67 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
68 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
68 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
69 | if(tmp > signal+1) tmp--; else |
69 | // if(tmp > signal+1) tmp--; else |
70 | if(tmp < signal-1) tmp++; |
70 | // if(tmp < signal-1) tmp++; |
71 | PPM_diff[index] = tmp - PPM_in[index]; |
71 | PPM_diff[index] = tmp - PPM_in[index]; |
72 | PPM_in[index] = tmp; |
72 | PPM_in[index] = tmp; |
73 | } |
73 | } |
74 | index++; |
74 | index++; |
75 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
75 | if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |