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Rev 1272 | Rev 1276 | ||
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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 | //############################################################################ |