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54 | { |
54 | { |
55 | if((signal > 250) && (signal < 687)) |
55 | if((signal > 250) && (signal < 687)) |
56 | { |
56 | { |
57 | signal -= 466; |
57 | signal -= 466; |
58 | // Stabiles Signal |
58 | // Stabiles Signal |
59 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
59 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
60 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
60 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
61 | if(tmp > signal+1) tmp--; else |
61 | if(tmp > signal+1) tmp--; else |
62 | if(tmp < signal-1) tmp++; |
62 | if(tmp < signal-1) tmp++; |
63 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
63 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
64 | else PPM_diff[index] = 0; |
64 | else PPM_diff[index] = 0; |