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Rev 1227 Rev 1240
Line 910... Line 910...
910
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
910
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911
// new values from RC
911
// new values from RC
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
913
        if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC
913
        if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC
914
        {
914
        {
-
 
915
                static int16_t stick_nick = 0, stick_roll = 0;
-
 
916
 
915
                ParameterMapping(); // remapping params (online poti replacement)
917
                ParameterMapping(); // remapping params (online poti replacement)
-
 
918
 
916
                // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
919
                // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
917
                StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickP) / 4;
920
                stick_nick = (stick_nick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickP) / 4;
918
                StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickD;
921
                stick_nick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickD;
919
                StickNick -= (GPSStickNick);
922
                StickNick = stick_nick - GPSStickNick;
Line 920... Line 923...
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923
 
921
                StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4;
924
                stick_roll = (stick_roll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4;
922
                StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD;
925
                stick_roll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD;
Line 923... Line 926...
923
                StickRoll -= (GPSStickRoll);
926
                StickRoll = stick_roll - GPSStickRoll;
924
 
927
 
925
                // mapping of yaw
928
                // mapping of yaw
926
                StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];
929
                StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];