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| 30 | // + this list of conditions and the following disclaimer. |
30 | // + this list of conditions and the following disclaimer. |
| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| 32 | // + from this software without specific prior written permission. |
32 | // + from this software without specific prior written permission. |
| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 34 | // + for non-commercial use (directly or indirectly) |
34 | // + for non-commercial use (directly or indirectly) |
| 35 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 36 | // + with our written permission |
36 | // + with our written permission |
| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 38 | // + clearly linked as origin |
38 | // + clearly linked as origin |
| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| Line 127... | Line 127... | ||
| 127 | /********************************************************************/ |
127 | /********************************************************************/ |
| 128 | /* Every time a positive edge is detected at PD6 */ |
128 | /* Every time a positive edge is detected at PD6 */ |
| 129 | /********************************************************************/ |
129 | /********************************************************************/ |
| 130 | /* t-Frame |
130 | /* t-Frame |
| 131 | <-----------------------------------------------------------------------> |
131 | <-----------------------------------------------------------------------> |
| 132 | ____ ______ _____ ________ ______ sync gap ____ |
132 | ____ ______ _____ ________ ______ sync gap ____ |
| 133 | | | | | | | | | | | | |
133 | | | | | | | | | | | | |
| 134 | | | | | | | | | | | | |
134 | | | | | | | | | | | | |
| 135 | ___| |_| |_| |_| |_.............| |________________| |
135 | ___| |_| |_| |_| |_.............| |________________| |
| 136 | <-----><-------><------><--------> <------> <--- |
136 | <-----><-------><------><--------> <------> <--- |
| 137 | t0 t1 t2 t4 tn t0 |
137 | t0 t1 t2 t4 tn t0 |
| Line 138... | Line 138... | ||
| 138 | 138 | ||
| 139 | The PPM-Frame length is 22.5 ms. |
139 | The PPM-Frame length is 22.5 ms. |
| 140 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
140 | Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
| Line 249... | Line 249... | ||
| 249 | if (RC_Quality) { |
249 | if (RC_Quality) { |
| 250 | RC_Quality--; |
250 | RC_Quality--; |
| 251 | if (NewPpmData-- == 0) { |
251 | if (NewPpmData-- == 0) { |
| 252 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP |
252 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP |
| 253 | + RCDiff(CH_PITCH) * staticParams.StickD; |
253 | + RCDiff(CH_PITCH) * staticParams.StickD; |
| - | 254 | ||
| - | 255 | DebugOut.Analog[21] = RCChannel(CH_THROTTLE); |
|
| - | 256 | ||
| 254 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP |
257 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP |
| 255 | + RCDiff(CH_ROLL) * staticParams.StickD; |
258 | + RCDiff(CH_ROLL) * staticParams.StickD; |
| 256 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
259 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
| 257 | * dynamicParams.UserParams[3] + 120; |
260 | * dynamicParams.UserParams[3] + 120; |
| 258 | if (RC_PRTY[CONTROL_THROTTLE] < 0) |
261 | if (RC_PRTY[CONTROL_THROTTLE] < 0) |