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Rev 1638 | Rev 1639 | ||
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Line 73... | Line 73... | ||
73 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
73 | if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
74 | else PPM_diff[index] = 0; |
74 | else PPM_diff[index] = 0; |
75 | PPM_in[index] = tmp; |
75 | PPM_in[index] = tmp; |
76 | } |
76 | } |
77 | index++; |
77 | index++; |
- | 78 | if(PlatinenVersion < 20) |
|
- | 79 | { |
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78 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
80 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
79 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
81 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
80 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
82 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
- | 83 | } |
|
81 | } |
84 | } |
82 | } |
85 | } |
83 | } |
86 | } |
84 | else |
87 | else |
85 | { |
88 | { |
Line 143... | Line 146... | ||
143 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
146 | if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
144 | else ppm_diff[index] = 0; |
147 | else ppm_diff[index] = 0; |
145 | ppm_in[index] = tmp; |
148 | ppm_in[index] = tmp; |
146 | } |
149 | } |
147 | else ROT_ON; |
150 | else ROT_ON; |
- | 151 | if(PlatinenVersion < 20) |
|
- | 152 | { |
|
148 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
153 | if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
149 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
154 | if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
150 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
155 | if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
- | 156 | } |
|
151 | } |
157 | } |
152 | if(index < 20) index++; |
158 | if(index < 20) index++; |
153 | else |
159 | else |
154 | if(index == 20) |
160 | if(index == 20) |
155 | { |
161 | { |