Rev 1180 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1180 | Rev 1238 | ||
|---|---|---|---|
| Line 934... | Line 934... | ||
| 934 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
934 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 935 | // new values from RC |
935 | // new values from RC |
| 936 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
936 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 937 | if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC |
937 | if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC |
| 938 | { |
938 | { |
| - | 939 | static int16_t stick_nick = 0, stick_roll = 0; |
|
| - | 940 | ||
| 939 | ParameterMapping(); // remapping params (online poti replacement) |
941 | ParameterMapping(); // remapping params (online poti replacement) |
| - | 942 | ||
| 940 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
943 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| 941 | StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickP) / 4; |
944 | stick_nick = (stick_nick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickP) / 4; |
| 942 | StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickD; |
945 | stick_nick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickD; |
| 943 | StickNick -= (GPSStickNick); |
946 | StickNick = stick_nick - GPSStickNick; |
| Line 944... | Line 947... | ||
| 944 | 947 | ||
| 945 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4; |
948 | stick_roll = (stick_roll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4; |
| 946 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD; |
949 | stick_roll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD; |
| Line 947... | Line 950... | ||
| 947 | StickRoll -= (GPSStickRoll); |
950 | StickRoll = stick_roll - GPSStickRoll; |
| 948 | 951 | ||
| 949 | // mapping of yaw |
952 | // mapping of yaw |
| 950 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
953 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |