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| Rev 1272 | Rev 1276 | ||
|---|---|---|---|
| Line 50... | Line 50... | ||
| 50 | if((signal > 1100) && (signal < 8000)) |
50 | if((signal > 1100) && (signal < 8000)) |
| 51 | { |
51 | { |
| 52 | tmpChannels = index; |
52 | tmpChannels = index; |
| 53 | if(tmpChannels >= 4 && Channels == tmpChannels) |
53 | if(tmpChannels >= 4 && Channels == tmpChannels) |
| 54 | { |
54 | { |
| 55 | if(okay_cnt > 5) |
55 | if(okay_cnt > 10) |
| 56 | { |
56 | { |
| 57 | NewPpmData = 0; // Null bedeutet: Neue Daten |
57 | NewPpmData = 0; // Null bedeutet: Neue Daten |
| 58 | for(index = 0; index < 11; index++) |
58 | for(index = 0; index < 11; index++) |
| 59 | { |
59 | { |
| 60 | if(okay_cnt > 30) |
60 | if(okay_cnt > 30) |
| Line 66... | Line 66... | ||
| 66 | PPM_diff[index] = ppm_diff[index]; |
66 | PPM_diff[index] = ppm_diff[index]; |
| 67 | } |
67 | } |
| 68 | } |
68 | } |
| 69 | if(okay_cnt < 255) okay_cnt++; |
69 | if(okay_cnt < 255) okay_cnt++; |
| 70 | } |
70 | } |
| 71 | else okay_cnt = 0; |
71 | else |
| - | 72 | if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
|
| 72 | index = 1; |
73 | index = 1; |
| 73 | if(!MotorenEin) Channels = tmpChannels; |
74 | if(!MotorenEin) Channels = tmpChannels; |
| 74 | } |
75 | } |
| 75 | else |
76 | else |
| 76 | { |
77 | { |
| Line 80... | Line 81... | ||
| 80 | { |
81 | { |
| 81 | signal -= 466; |
82 | signal -= 466; |
| 82 | // Stabiles Signal |
83 | // Stabiles Signal |
| 83 | if((abs(signal - ppm_in[index]) < 6)) |
84 | if((abs(signal - ppm_in[index]) < 6)) |
| 84 | { |
85 | { |
| 85 | if(okay_cnt > 25) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
86 | if(okay_cnt > 25) SenderOkay += 10; |
| 86 | else |
87 | else |
| - | 88 | if(okay_cnt > 10) SenderOkay += 2; |
|
| 87 | if(okay_cnt > 10) { if(SenderOkay < 200) SenderOkay += 2; else SenderOkay = 200;} |
89 | if(SenderOkay > 200) SenderOkay = 200; |
| 88 | } |
90 | } |
| 89 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
91 | tmp = (3 * (ppm_in[index]) + signal) / 4; |
| 90 | if(tmp > signal+1) tmp--; else |
92 | if(tmp > signal+1) tmp--; else |
| 91 | if(tmp < signal-1) tmp++; |
93 | if(tmp < signal-1) tmp++; |
| 92 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
94 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
| Line 98... | Line 100... | ||
| 98 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
100 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
| 99 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
101 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| 100 | } |
102 | } |
| 101 | else ROT_ON; |
103 | else ROT_ON; |
| 102 | if(index < 20) index++; |
104 | if(index < 20) index++; |
| 103 | else |
105 | else |
| - | 106 | if(index == 20) |
|
| 104 | { |
107 | { |
| 105 | unsigned char i; |
108 | unsigned char i; |
| - | 109 | index = 30; |
|
| 106 | for(i=0;i<11;i++) // restore from older data |
110 | for(i=0;i<11;i++) // restore from older data |
| 107 | { |
111 | { |
| 108 | PPM_in[i] = old_ppm_in[index]; |
112 | PPM_in[i] = old_ppm_in[i]; |
| 109 | PPM_diff[index] = 0; |
113 | PPM_diff[i] = 0; |
| 110 | okay_cnt = 0; |
114 | // okay_cnt /= 2; |
| 111 | } |
115 | } |
| 112 | } |
116 | } |
| 113 | } |
117 | } |
| 114 | DebugOut.Analog[16] = okay_cnt; |
118 | DebugOut.Analog[16] = okay_cnt; |
| 115 | //DebugOut.Analog[17] = PPM_in[2]; |
119 | DebugOut.Analog[17] = PPM_in[2]; |
| 116 | } |
120 | } |
| Line 117... | Line 121... | ||
| 117 | 121 | ||
| 118 | /* |
122 | /* |
| 119 | //############################################################################ |
123 | //############################################################################ |