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Line 119... Line 119...
119 
 * Decode commands but do not execute them.
 119 
 * Decode commands but do not execute them.
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 */
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 */
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int16_t tempPRTY[4];
 121 
int16_t tempPRTY[4];
Line 122... Line 122...
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 122 
 
- 
 
 123 
void controlMixer_periodicTask(void) {
- 
 
 124 
  // Decode commands.
- 
 
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  uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand()
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void controlMixer_periodicTask(void) {
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    : COMMAND_NONE;
- 
 
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  uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand()
- 
 
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    : COMMAND_NONE;
- 
 
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- 
 
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  // Update variables ("potis").
- 
 
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  if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) {
- 
 
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    controlMixer_updateVariables();
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  // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
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    controlMixer_didReceiveSignal = 1;
- 
 
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  } else { // Signal is not OK
- 
 
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    // Could handle switch to emergency flight here.
- 
 
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    // throttle is handled elsewhere.
- 
 
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  }
- 
 
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- 
 
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  if (rcCommand != COMMAND_NONE) {
- 
 
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    isCommandRepeated = (lastCommand == rcCommand);
- 
 
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    lastCommand = rcCommand;
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    lastArgument = RC_getArgument();
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  } else if (ecCommand != COMMAND_NONE) {
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    isCommandRepeated = (lastCommand == ecCommand);
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    lastCommand = ecCommand;
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    lastArgument = EC_getArgument();
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  } else {
- 
 
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    // Both sources have no command, or one or both are out.
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  // TODO: If no signal --> zero.
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    // Just set to false. There is no reason to check if the none-command was repeated anyway.
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    isCommandRepeated = 0;
- 
 
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    lastCommand = COMMAND_NONE;
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  // HC_periodicTask();
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  }
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  // This will init the values (not just add to them).
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  // This will init the values (not just add to them).
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  updateControlAndMeasureControlActivity(CONTROL_YAW, tempPRTY[CONTROL_YAW]);
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  updateControlAndMeasureControlActivity(CONTROL_YAW, tempPRTY[CONTROL_YAW]);
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  dampenControlActivity();
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  dampenControlActivity();
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Line 152... Line -...
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  debugOut.analog[17] = controlActivity/10;
 - 
 
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 - 
 
154 
  // Update variables ("potis").
 - 
 
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  if (controlMixer_getSignalQuality() >= SIGNAL_GOOD) {
 - 
 
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    controlMixer_updateVariables();
 - 
 
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    controlMixer_didReceiveSignal = 1;
 - 
 
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  } else { // Signal is not OK
 - 
 
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    // Could handle switch to emergency flight here.
 - 
 
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    // throttle is handled elsewhere.
 - 
 
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  }
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  debugOut.analog[17] = controlActivity/10;
162 
 
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  // We can safely do this even with a bad signal - the variables will not have been updated then.
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  // We can safely do this even with a bad signal - the variables will not have been updated then.
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   maxControl[axis] = 100;
 199 
   maxControl[axis] = 100;
183 
   } else if (maxControl[axis])
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   } else if (maxControl[axis])
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   maxControl[axis]--;
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   maxControl[axis]--;
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   }
 202 
   }
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  */
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  */
187 
 
 - 
 
188 
  // Decode commands.
 - 
 
189 
  uint8_t rcCommand = (RC_getSignalQuality() >= SIGNAL_OK) ? RC_getCommand()
 - 
 
190 
    : COMMAND_NONE;
 - 
 
191 
  uint8_t ecCommand = (EC_getSignalQuality() >= SIGNAL_OK) ? EC_getCommand()
 - 
 
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    : COMMAND_NONE;
 - 
 
193 
 
 - 
 
194 
  if (rcCommand != COMMAND_NONE) {
 - 
 
195 
    isCommandRepeated = (lastCommand == rcCommand);
 - 
 
196 
    lastCommand = rcCommand;
 - 
 
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    lastArgument = RC_getArgument();
 - 
 
198 
  } else if (ecCommand != COMMAND_NONE) {
 - 
 
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    isCommandRepeated = (lastCommand == ecCommand);
 - 
 
200 
    lastCommand = ecCommand;
 - 
 
201 
    lastArgument = EC_getArgument();
 - 
 
202 
  } else {
 - 
 
203 
    // Both sources have no command, or one or both are out.
 - 
 
204 
    // Just set to false. There is no reason to check if the none-command was repeated anyway.
 - 
 
205 
    isCommandRepeated = 0;
 - 
 
206 
    lastCommand = COMMAND_NONE;
 - 
 
207 
  }
 - 
 
208 
 }
 204 
 }