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| Rev 1213 | Rev 1232 | ||
|---|---|---|---|
| Line 267... | Line 267... | ||
| 267 | signal = signal/3; // scaling to fit PPM resolution |
267 | signal = signal/3; // scaling to fit PPM resolution |
| Line 268... | Line 268... | ||
| 268 | 268 | ||
| 269 | if(index >= 0 && index <= 10) |
269 | if(index >= 0 && index <= 10) |
| 270 | { |
270 | { |
| 271 | // Stabiles Signal |
271 | // Stabiles Signal |
| - | 272 | if(abs(signal - PPM_in[index]) < 6) |
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| - | 273 | { |
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| - | 274 | if(SenderOkay < 200) SenderOkay += 10; |
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| - | 275 | else |
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| - | 276 | { |
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| - | 277 | SenderOkay = 200; |
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| - | 278 | TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
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| - | 279 | } |
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| 272 | if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
280 | } |
| 273 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
281 | tmp = (3 * (PPM_in[index]) + signal) / 4; |
| 274 | if(tmp > signal+1) tmp--; else |
282 | if(tmp > signal+1) tmp--; else |
| 275 | if(tmp < signal-1) tmp++; |
283 | if(tmp < signal-1) tmp++; |
| 276 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
284 | if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| 277 | else PPM_diff[index] = 0; |
285 | else PPM_diff[index] = 0; |
| 278 | PPM_in[index] = tmp; |
286 | PPM_in[index] = tmp; |
| 279 | } |
287 | } |
| 280 | } |
288 | } |