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Fixes #2902

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This commit is contained in:
Bertrand Songis
2015-11-15 20:02:20 +01:00
parent f8f5dde24e
commit d3915a78fd
1 changed files with 31 additions and 15 deletions
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radio/src/pulses/pxx_arm.cpp
+31 -15
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@@ -231,32 +231,48 @@ void setupPulsesPXX(unsigned int port)
}
else {
if (i < sendUpperChannels) {
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[8+i];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD)
int channel = 8 + i;
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[channel];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 4095;
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE)
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 2048;
else
pulseValue = limit(2049, PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (failsafeValue * 512 / 682) + 3072, 4094);
}
else {
failsafeValue += 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(2049, (failsafeValue * 512 / 682) + 3072, 4094);
}
}
else {
int16_t failsafeValue = g_model.moduleData[port].failsafeChannels[i];
if (failsafeValue == FAILSAFE_CHANNEL_HOLD)
if (failsafeValue == FAILSAFE_CHANNEL_HOLD) {
pulseValue = 2047;
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE)
}
else if (failsafeValue == FAILSAFE_CHANNEL_NOPULSE) {
pulseValue = 0;
else
pulseValue = limit(1, PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (failsafeValue * 512 / 682) + 1024, 2046);
}
else {
failsafeValue += 2*PPM_CH_CENTER(i) - 2*PPM_CENTER;
pulseValue = limit(1, (failsafeValue * 512 / 682) + 1024, 2046);
}
}
}
}
else {
if (i < sendUpperChannels)
pulseValue = limit(2049, PPM_CH_CENTER(8+g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (channelOutputs[8+g_model.moduleData[port].channelsStart+i] * 512 / 682) + 3072, 4094);
else if (i < NUM_CHANNELS(port))
pulseValue = limit(1, PPM_CH_CENTER(g_model.moduleData[port].channelsStart+i) - PPM_CENTER + (channelOutputs[g_model.moduleData[port].channelsStart+i] * 512 / 682) + 1024, 2046);
else
if (i < sendUpperChannels) {
int channel = 8 + g_model.moduleData[port].channelsStart + i;
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(2049, (value * 512 / 682) + 3072, 4094);
}
else if (i < NUM_CHANNELS(port)) {
int channel = g_model.moduleData[port].channelsStart + i;
int value = channelOutputs[channel] + 2*PPM_CH_CENTER(channel) - 2*PPM_CENTER;
pulseValue = limit(1, (value * 512 / 682) + 1024, 2046);
}
else {
pulseValue = 1024;
}
}
if (i & 1) {
@@ -272,7 +288,7 @@ void setupPulsesPXX(unsigned int port)
/* CRC16 */
putPcmByte(0, port);
pulseValue = modulePulsesData[port].pxx.pcmCrc;
putPcmByte(pulseValue>>8, port);
putPcmByte(pulseValue >> 8, port);
putPcmByte(pulseValue, port);
/* Sync */