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| Rev 2119 | Rev 2122 | ||
|---|---|---|---|
| Line 117... | Line 117... | ||
| 117 | if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
117 | if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
| 118 | // check for valid signal length (0.8 ms < signal < 2.2 ms) |
118 | // check for valid signal length (0.8 ms < signal < 2.2 ms) |
| 119 | if ((signal >= TIME(0.8)) && (signal < TIME(2.2))) { |
119 | if ((signal >= TIME(0.8)) && (signal < TIME(2.2))) { |
| 120 | // shift signal to zero symmetric range -154 to 159 |
120 | // shift signal to zero symmetric range -154 to 159 |
| 121 | //signal -= 3750; // theoretical value |
121 | //signal -= 3750; // theoretical value |
| 122 | signal -= (TIME(1.5) - 128 + channelMap.trim); // best value with my Futaba in zero trim. |
122 | signal -= (TIME(1.5) - 128 + channelMap.HWTrim); |
| 123 | // check for stable signal |
123 | // check for stable signal |
| 124 | if (abs(signal - PPM_in[index]) < TIME(0.05)) { |
124 | if (abs(signal - PPM_in[index]) < TIME(0.05)) { |
| 125 | if (RCQuality < 200) |
125 | if (RCQuality < 200) |
| 126 | RCQuality += 10; |
126 | RCQuality += 10; |
| 127 | else |
127 | else |
| Line 196... | Line 196... | ||
| 196 | */ |
196 | */ |
| 197 | void RC_periodicTaskAndPRYT(int16_t* PRYT) { |
197 | void RC_periodicTaskAndPRYT(int16_t* PRYT) { |
| 198 | if (RCQuality) { |
198 | if (RCQuality) { |
| 199 | RCQuality--; |
199 | RCQuality--; |
| Line 200... | Line 200... | ||
| 200 | 200 | ||
| 201 | debugOut.analog[20] = RCChannel(CH_ELEVATOR); |
201 | PRYT[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR) - rcTrim.trim[CH_ELEVATOR]; |
| 202 | debugOut.analog[21] = RCChannel(CH_AILERONS); |
202 | PRYT[CONTROL_AILERONS] = RCChannel(CH_AILERONS) - rcTrim.trim[CH_AILERONS]; |
| 203 | debugOut.analog[22] = RCChannel(CH_RUDDER); |
203 | PRYT[CONTROL_RUDDER] = RCChannel(CH_RUDDER) - rcTrim.trim[CH_RUDDER]; |
| 204 | debugOut.analog[23] = RCChannel(CH_THROTTLE); |
204 | PRYT[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE); // no trim on throttle! |
| 205 | 205 | ||
| 206 | PRYT[CONTROL_ELEVATOR] = RCChannel(CH_ELEVATOR); |
206 | debugOut.analog[20] = PRYT[CONTROL_ELEVATOR]; |
| 207 | PRYT[CONTROL_AILERONS] = RCChannel(CH_AILERONS); |
207 | debugOut.analog[21] = PRYT[CONTROL_AILERONS]; |
| 208 | PRYT[CONTROL_RUDDER] = RCChannel(CH_RUDDER); |
208 | debugOut.analog[22] = PRYT[CONTROL_RUDDER]; |
| 209 | PRYT[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE); |
209 | debugOut.analog[23] = PRYT[CONTROL_THROTTLE]; |
| 210 | } // if RCQuality is no good, we just do nothing. |
210 | } // if RCQuality is no good, we just do nothing. |
| Line 211... | Line 211... | ||
| 211 | } |
211 | } |
| 212 | 212 | ||
| 213 | /* |
213 | /* |
| Line 233... | Line 233... | ||
| 233 | return SIGNAL_BAD; |
233 | return SIGNAL_BAD; |
| 234 | return SIGNAL_LOST; |
234 | return SIGNAL_LOST; |
| 235 | } |
235 | } |
| Line 236... | Line 236... | ||
| 236 | 236 | ||
| - | 237 | void RC_calibrate(void) { |
|
| - | 238 | rcTrim.trim[CH_ELEVATOR] = RCChannel(CH_ELEVATOR); |
|
| - | 239 | rcTrim.trim[CH_AILERONS] = RCChannel(CH_AILERONS); |
|
| 237 | void RC_calibrate(void) { |
240 | rcTrim.trim[CH_RUDDER] = RCChannel(CH_RUDDER); |
| 238 | // Do nothing. |
241 | rcTrim.trim[CH_THROTTLE] = 0; |
| Line 239... | Line 242... | ||
| 239 | } |
242 | } |
| 240 | 243 | ||
| 241 | int16_t RC_getZeroThrottle(void) { |
244 | int16_t RC_getZeroThrottle(void) { |
| - | 245 | return TIME (-0.5); |
|
| - | 246 | } |
|
| - | 247 | ||
| - | 248 | void RC_setZeroTrim(void) { |
|
| - | 249 | for (uint8_t i=0; i<MAX_CHANNELS; i++) { |
|
| - | 250 | rcTrim.trim[i] = 0; |
|