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Rev 1980 | Rev 1986 | ||
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Line 144... | Line 144... | ||
144 | controls[index] = newValue; |
144 | controls[index] = newValue; |
145 | tmp -= newValue; |
145 | tmp -= newValue; |
146 | tmp /= 2; |
146 | tmp /= 2; |
147 | tmp = tmp * tmp; |
147 | tmp = tmp * tmp; |
148 | // tmp += (newValue >= 0) ? newValue : -newValue; |
148 | // tmp += (newValue >= 0) ? newValue : -newValue; |
- | 149 | /* |
|
149 | if (controlActivity + (uint16_t)tmp >= controlActivity) |
150 | if (controlActivity + (uint16_t)tmp >= controlActivity) |
150 | controlActivity += tmp; |
151 | controlActivity += tmp; |
151 | else controlActivity = 0xffff; |
152 | else controlActivity = 0xffff; |
- | 153 | */ |
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- | 154 | if (controlActivity + (uint16_t)tmp < 32768) |
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- | 155 | controlActivity += tmp; |
|
152 | } |
156 | } |
Line 153... | Line 157... | ||
153 | 157 | ||
154 | #define CADAMPING 10 |
158 | #define CADAMPING 10 |
155 | void dampenControlActivity(void) { |
159 | void dampenControlActivity(void) { |
Line 182... | Line 186... | ||
182 | updateControlAndMeasureControlActivity(CONTROL_PITCH, RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]); |
186 | updateControlAndMeasureControlActivity(CONTROL_PITCH, RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]); |
183 | updateControlAndMeasureControlActivity(CONTROL_ROLL, RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]); |
187 | updateControlAndMeasureControlActivity(CONTROL_ROLL, RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]); |
184 | updateControlAndMeasureControlActivity(CONTROL_YAW, RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]); |
188 | updateControlAndMeasureControlActivity(CONTROL_YAW, RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]); |
185 | dampenControlActivity(); |
189 | dampenControlActivity(); |
Line 186... | Line 190... | ||
186 | 190 | ||
Line 187... | Line 191... | ||
187 | //debugOut.analog[14] = controlActivity/10; |
191 | debugOut.analog[17] = controlActivity/10; |
188 | 192 | ||
Line 189... | Line 193... | ||
189 | tempThrottle = HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]); |
193 | tempThrottle = HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]); |