[ersky9x] PPM-in problem

src/board_ersky9x.cpp

@@ -372,36 +372,35 @@ void start_timer4()
 // (The timer is free-running and is thus not reset to zero at each capture interval.)
 // Timer 4 generates the 2MHz clock to clock Timer 3
 
-uint16_t Temp_captures[8] ;
-
 extern "C" void TC3_IRQHandler() //capture ppm in at 2MHz
 {
   uint16_t capture ;
   static uint16_t lastCapt ;
-  uint16_t val ;
 
   capture = TC1->TC_CHANNEL[0].TC_RA ;
   (void) TC1->TC_CHANNEL[0].TC_SR ;               // Acknowledgethe interrupt
 
-  val = (capture - lastCapt) / 2 ;
-  lastCapt = capture;
+  uint16_t val = (capture - lastCapt) / 2;
 
-  // We prcoess g_ppmInsright here to make servo movement as smooth as possible
+  // G: We process g_ppmIns immediately here, to make servo movement as smooth as possible
   //    while under trainee control
-  if (ppmInState && ppmInState<=8) {
-    if(val>800 && val<2200) {
-      Temp_captures[ppmInState - 1] = capture ;
-      g_ppmIns[ppmInState++ - 1] = (int16_t)(val - PPM_CENTER)*(g_eeGeneral.PPM_Multiplier+10)/10; //+-500 != 512, but close enough.
-    }
-    else {
-      ppmInState = 0; // not triggered
-    }
-  }
-  else {
-    if (val>4000 && val < 16000) {
-      ppmInState = 1; // triggered
+  if (val>4000 && val < 16000) // G: Prioritize reset pulse. (Needed when less than 8 incoming pulses)
+    ppmInState = 1; // triggered
+  else
+  {
+    if (ppmInState && ppmInState<=8)
+    {
+      if (val>800 && val<2200) // if valid pulse-width range
+      {
+        g_ppmIns[ppmInState++ - 1] =
+            (int16_t)(val - 1500)*(g_eeGeneral.PPM_Multiplier+10)/10; //+-500 != 512, but close enough.
+      }
+      else
+        ppmInState = 0; // not triggered
     }
   }
+
+  lastCapt = capture;
 }
 
 void start_ppm_capture()