Rev 1222 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1222 | Rev 1239 | ||
|---|---|---|---|
| Line 907... | Line 907... | ||
| 907 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
907 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 908 | // new values from RC |
908 | // new values from RC |
| 909 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
909 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 910 | if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC |
910 | if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC |
| 911 | { |
911 | { |
| - | 912 | static int16_t stick_nick = 0, stick_roll = 0; |
|
| - | 913 | ||
| 912 | ParameterMapping(); // remapping params (online poti replacement) |
914 | ParameterMapping(); // remapping params (online poti replacement) |
| - | 915 | ||
| 913 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
916 | // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| 914 | StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickP) / 4; |
917 | stick_nick = (stick_nick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickP) / 4; |
| 915 | StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickD; |
918 | stick_nick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickD; |
| 916 | StickNick -= (GPSStickNick); |
919 | StickNick = stick_nick - GPSStickNick; |
| Line 917... | Line 920... | ||
| 917 | 920 | ||
| 918 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4; |
921 | stick_roll = (stick_roll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4; |
| 919 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD; |
922 | stick_roll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD; |
| Line 920... | Line 923... | ||
| 920 | StickRoll -= (GPSStickRoll); |
923 | StickRoll = stick_roll - GPSStickRoll; |
| 921 | 924 | ||
| 922 | // mapping of yaw |
925 | // mapping of yaw |
| 923 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
926 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |