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Line 53... Line 53...
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  paramSet_readOrDefault();
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  paramSet_readOrDefault();
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  // enable interrupts global
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  // enable interrupts global
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  sei();
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  printf("\n\r===================================");
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  printf("\n\rFlightControl");
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  printf("\n\rHardware: Custom");
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  printf("\n\r     CPU: Atmega644");
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  if (CPUType == ATMEGA644P)
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    printf("p");
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  printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a');
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  printf("\n\r===================================");
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  // Wait for a short time (otherwise the RC channel check won't work below)
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  // timer = SetDelay(500);
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  // while(!CheckDelay(timer));
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  // Instead, while away the time by flashing the 2 outputs:
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  // First J16, then J17. Makes it easier to see which is which.
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  timer = setDelay(200);
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  outputSet(0,1);
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  GRN_OFF;
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  RED_ON;
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  while (!checkDelay(timer))
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    ;
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  timer = setDelay(200);
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  outputSet(0, 0);
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  outputSet(1, 1);
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  RED_OFF;
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  GRN_ON;
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  while (!checkDelay(timer))
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    ;
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  timer = setDelay(200);
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  while (!checkDelay(timer))
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    ;
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  outputSet(1,0);
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  GRN_OFF;
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    printf("\n\r===================================");
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#ifdef USE_NAVICTRL
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  printf("\n\rSupport for NaviCtrl");
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#endif
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#ifdef USE_DIRECT_GPS
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  printf("\n\rDirect (no NaviCtrl) navigation");
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#endif
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  sei();
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  controlMixer_setNeutral();
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  controlMixer_setNeutral();
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  // Cal. attitude sensors and reset integrals.
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  // Cal. attitude sensors and reset integrals.
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  attitude_setNeutral();
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  attitude_setNeutral();
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  // Init flight parameters
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  // flight_setNeutral();
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  // Init flight parameters
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  // flight_setNeutral();
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  beep(2000);
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  // This is not a busy-wait operation and should be OK.
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  printf("\n\n\r");
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  beep(2000);