Rev 2141 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2141 | Rev 2142 | ||
|---|---|---|---|
| Line 101... | Line 101... | ||
| 101 | if (signal != 0) { |
101 | if (signal != 0) { |
| 102 | RC_buffer[channel] = 0; // reset to flag value already used. |
102 | RC_buffer[channel] = 0; // reset to flag value already used. |
| 103 | if ((signal >= TIME(0.8)) && (signal < TIME(2.2))) { |
103 | if ((signal >= TIME(0.8)) && (signal < TIME(2.2))) { |
| 104 | signal -= (TIME(1.5) - 128 + channelMap.HWTrim); |
104 | signal -= (TIME(1.5) - 128 + channelMap.HWTrim); |
| 105 | if (abs(signal - PPM_in[channel]) < TIME(0.05)) { |
105 | if (abs(signal - PPM_in[channel]) < TIME(0.05)) { |
| 106 | // With 7 channels and 50 frames/sec, weget 350 channel values/sec. |
106 | // With 7 channels and 50 frames/sec, we get 350 channel values/sec. |
| 107 | if (RCQuality < 200) |
107 | if (RCQuality < 200) |
| 108 | RCQuality += 2; |
108 | RCQuality += 2; |
| 109 | } |
109 | } |
| 110 | PPM_in[channel] = signal; |
110 | PPM_in[channel] = signal; |
| 111 | } |
111 | } |
| Line 136... | Line 136... | ||
| 136 | } |
136 | } |
| Line 137... | Line 137... | ||
| 137 | 137 | ||
| Line 138... | Line 138... | ||
| 138 | int16_t channel = RCChannel(CH_THROTTLE); |
138 | int16_t channel = RCChannel(CH_THROTTLE); |
| - | 139 | ||
| 139 | 140 | if (channel <= -TIME(0.55)) { |
|
| 140 | if (channel <= -TIME(0.55)) { |
141 | debugOut.analog[17] = 1; |
| 141 | int16_t aux = RCChannel(COMMAND_CHANNEL_HORIZONTAL); |
142 | int16_t aux = RCChannel(COMMAND_CHANNEL_HORIZONTAL); |
| 142 | if (abs(aux) >= TIME(0.3)) // If we pull on the stick, it is gyrocal. Else it is RC cal. |
143 | if (abs(aux) >= TIME(0.3)) // If we pull on the stick, it is gyrocal. Else it is RC cal. |
| 143 | lastRCCommand = COMMAND_GYROCAL; |
144 | lastRCCommand = COMMAND_GYROCAL; |
| 144 | else |
145 | else |
| - | 146 | lastRCCommand = COMMAND_RCCAL; |
|
| 145 | lastRCCommand = COMMAND_RCCAL; |
147 | } else { |
| 146 | } else { |
148 | debugOut.analog[17] = 0; |
| 147 | lastRCCommand = COMMAND_NONE; |
149 | lastRCCommand = COMMAND_NONE; |
| 148 | } |
150 | } |
| Line 202... | Line 204... | ||
| 202 | rcTrim.trim[CH_RUDDER] = RCChannel(CH_RUDDER); |
204 | rcTrim.trim[CH_RUDDER] = RCChannel(CH_RUDDER); |
| 203 | rcTrim.trim[CH_THROTTLE] = 0; |
205 | rcTrim.trim[CH_THROTTLE] = 0; |
| 204 | } |
206 | } |
| Line 205... | Line 207... | ||
| 205 | 207 | ||
| 206 | int16_t RC_getZeroThrottle(void) { |
208 | int16_t RC_getZeroThrottle(void) { |
| 207 | return TIME (0.95f); |
209 | return TIME (1.0f); |
| Line 208... | Line 210... | ||
| 208 | } |
210 | } |
| 209 | 211 | ||
| 210 | void RC_setZeroTrim(void) { |
212 | void RC_setZeroTrim(void) { |