Rev 2019 | Rev 2039 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2019 | Rev 2026 | ||
|---|---|---|---|
| Line 59... | Line 59... | ||
| 59 | #include "commands.h" |
59 | #include "commands.h" |
| Line 60... | Line 60... | ||
| 60 | 60 | ||
| 61 | // The channel array is now 0-based. |
61 | // The channel array is now 0-based. |
| 62 | volatile int16_t PPM_in[MAX_CHANNELS]; |
62 | volatile int16_t PPM_in[MAX_CHANNELS]; |
| 63 | volatile int16_t PPM_diff[MAX_CHANNELS]; |
63 | volatile int16_t PPM_diff[MAX_CHANNELS]; |
| 64 | volatile uint8_t NewPpmData = 1; |
64 | volatile uint8_t newPPMData = 1; |
| 65 | volatile uint8_t RCQuality = 0; |
65 | volatile uint8_t RCQuality; |
| 66 | int16_t RC_PRTY[4]; |
66 | int16_t RC_PRTY[4]; |
| 67 | uint8_t lastRCCommand = COMMAND_NONE; |
67 | uint8_t lastRCCommand = COMMAND_NONE; |
| Line 68... | Line 68... | ||
| 68 | uint8_t commandTimer = 0; |
68 | uint8_t commandTimer = 0; |
| Line 158... | Line 158... | ||
| 158 | //sync gap? (3.52 ms < signal < 25.6 ms) |
158 | //sync gap? (3.52 ms < signal < 25.6 ms) |
| 159 | if ((signal > 1100) && (signal < 8000)) { |
159 | if ((signal > 1100) && (signal < 8000)) { |
| 160 | // if a sync gap happens and there where at least 4 channels decoded before |
160 | // if a sync gap happens and there where at least 4 channels decoded before |
| 161 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
161 | // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
| 162 | if (index >= 3) { |
162 | if (index >= 3) { |
| 163 | NewPpmData = 0; // Null means NewData for the first 4 channels |
163 | newPPMData = 0; // Null means NewData for the first 4 channels |
| 164 | } |
164 | } |
| 165 | // synchronize channel index |
165 | // synchronize channel index |
| 166 | index = 0; |
166 | index = 0; |
| 167 | } else { // within the PPM frame |
167 | } else { // within the PPM frame |
| 168 | if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
168 | if (index < MAX_CHANNELS) { // PPM24 supports 12 channels |
| Line 241... | Line 241... | ||
| 241 | */ |
241 | */ |
| 242 | void RC_update() { |
242 | void RC_update() { |
| 243 | int16_t tmp1, tmp2; |
243 | int16_t tmp1, tmp2; |
| 244 | if (RCQuality) { |
244 | if (RCQuality) { |
| 245 | RCQuality--; |
245 | RCQuality--; |
| 246 | if (NewPpmData-- == 0) { |
246 | if (newPPMData-- == 0) { |
| 247 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.stickP |
247 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.stickP |
| 248 | + RCDiff(CH_PITCH) * staticParams.stickD; |
248 | + RCDiff(CH_PITCH) * staticParams.stickD; |
| 249 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.stickP |
249 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.stickP |
| 250 | + RCDiff(CH_ROLL) * staticParams.stickD; |
250 | + RCDiff(CH_ROLL) * staticParams.stickD; |
| 251 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
251 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
| Line 272... | Line 272... | ||
| 272 | } |
272 | } |
| 273 | } else { // Bad signal |
273 | } else { // Bad signal |
| 274 | RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] |
274 | RC_PRTY[CONTROL_PITCH] = RC_PRTY[CONTROL_ROLL] = RC_PRTY[CONTROL_THROTTLE] |
| 275 | = RC_PRTY[CONTROL_YAW] = 0; |
275 | = RC_PRTY[CONTROL_YAW] = 0; |
| 276 | } |
276 | } |
| 277 | - | ||
| 278 | debugOut.analog[21] = RCQuality; |
- | |
| 279 | } |
277 | } |
| Line 280... | Line 278... | ||
| 280 | 278 | ||
| 281 | /* |
279 | /* |
| 282 | * Get Pitch, Roll, Throttle, Yaw values |
280 | * Get Pitch, Roll, Throttle, Yaw values |