224 lines
7.6 KiB
C++
224 lines
7.6 KiB
C++
/*
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* Authors (alphabetical order)
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* - Andre Bernet <bernet.andre@gmail.com>
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* - Andreas Weitl
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* - Bertrand Songis <bsongis@gmail.com>
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* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
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* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Gabriel Birkus
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* - Jean-Pierre Parisy
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* - Karl Szmutny
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* - Michael Blandford
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* - Michal Hlavinka
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* - Pat Mackenzie
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* - Philip Moss
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* - Rob Thomson
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* - Romolo Manfredini <romolo.manfredini@gmail.com>
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* - Thomas Husterer
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*
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* opentx is based on code named
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* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
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* er9x by Erez Raviv: http://code.google.com/p/er9x/,
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* and the original (and ongoing) project by
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* Thomas Husterer, th9x: http://code.google.com/p/th9x/
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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*/
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#include "opentx.h"
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#if defined(FRSKY)
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uint16_t getChannelRatio(uint8_t channel)
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{
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return (uint16_t)g_model.frsky.channels[channel].ratio << g_model.frsky.channels[channel].multiplier;
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}
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lcdint_t applyChannelRatio(uint8_t channel, lcdint_t val)
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{
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return ((int32_t)val+g_model.frsky.channels[channel].offset) * getChannelRatio(channel) * 2 / 51;
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}
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#endif
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#if defined(PCBTARANIS)
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double gpsToDouble(bool neg, int16_t bp, int16_t ap)
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{
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double result = ap;
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result /= 10000;
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result += (bp % 100);
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result /= 60;
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result += (bp / 100);
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return neg?-result:result;
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}
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#endif
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#if defined(FRSKY_HUB)
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void extractLatitudeLongitude(uint32_t * latitude, uint32_t * longitude)
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{
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div_t qr = div(frskyData.hub.gpsLatitude_bp, 100);
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*latitude = ((uint32_t)(qr.quot) * 1000000) + (((uint32_t)(qr.rem) * 10000 + frskyData.hub.gpsLatitude_ap) * 5) / 3;
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qr = div(frskyData.hub.gpsLongitude_bp, 100);
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*longitude = ((uint32_t)(qr.quot) * 1000000) + (((uint32_t)(qr.rem) * 10000 + frskyData.hub.gpsLongitude_ap) * 5) / 3;
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}
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#if defined(PCBTARANIS)
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double pilotLatitude;
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double pilotLongitude;
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#endif
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void getGpsPilotPosition()
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{
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#if defined(PCBTARANIS)
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pilotLatitude = gpsToDouble(frskyData.hub.gpsLatitudeNS=='S', frskyData.hub.gpsLatitude_bp, frskyData.hub.gpsLatitude_ap);
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pilotLongitude = gpsToDouble(frskyData.hub.gpsLongitudeEW=='W', frskyData.hub.gpsLongitude_bp, frskyData.hub.gpsLongitude_ap);
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#endif
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extractLatitudeLongitude(&frskyData.hub.pilotLatitude, &frskyData.hub.pilotLongitude);
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uint32_t lat = frskyData.hub.pilotLatitude / 10000;
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uint32_t angle2 = (lat*lat) / 10000;
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uint32_t angle4 = angle2 * angle2;
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frskyData.hub.distFromEarthAxis = 139*(((uint32_t)10000000-((angle2*(uint32_t)123370)/81)+(angle4/25))/12500);
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// printf("frskyData.hub.distFromEarthAxis=%d\n", frskyData.hub.distFromEarthAxis); fflush(stdout);
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}
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void getGpsDistance()
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{
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uint32_t lat, lng;
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extractLatitudeLongitude(&lat, &lng);
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// printf("lat=%d (%d), long=%d (%d)\n", lat, abs(lat - frskyData.hub.pilotLatitude), lng, abs(lng - frskyData.hub.pilotLongitude));
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uint32_t angle = (lat > frskyData.hub.pilotLatitude) ? lat - frskyData.hub.pilotLatitude : frskyData.hub.pilotLatitude - lat;
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uint32_t dist = EARTH_RADIUS * angle / 1000000;
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uint32_t result = dist*dist;
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angle = (lng > frskyData.hub.pilotLongitude) ? lng - frskyData.hub.pilotLongitude : frskyData.hub.pilotLongitude - lng;
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dist = frskyData.hub.distFromEarthAxis * angle / 1000000;
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result += dist*dist;
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dist = abs(frskyData.hub.baroAltitudeOffset ? TELEMETRY_ALT_BP : TELEMETRY_GPS_ALT_BP);
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result += dist*dist;
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frskyData.hub.gpsDistance = isqrt32(result);
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if (frskyData.hub.gpsDistance > frskyData.hub.maxGpsDistance)
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frskyData.hub.maxGpsDistance = frskyData.hub.gpsDistance;
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}
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#endif
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#if defined(FRSKY) && defined(VARIO)
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void varioWakeup()
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{
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static tmr10ms_t s_varioTmr;
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tmr10ms_t tmr10ms = get_tmr10ms();
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if (isFunctionActive(FUNCTION_VARIO)) {
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#if defined(AUDIO)
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cli();
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#if 1
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#warning "Ele stick for vario tests"
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int verticalSpeed = getValue(MIXSRC_Ele);
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#else
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int verticalSpeed = frskyData.hub.varioSpeed;
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#endif
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sei();
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#if defined(PCBSTD)
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int16_t varioCenterMax = (int16_t)g_model.frsky.varioCenterMax * 10 + 50;
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if (verticalSpeed >= varioCenterMax) {
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verticalSpeed = verticalSpeed - varioCenterMax;
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int16_t varioMax = (10+(int16_t)g_model.frsky.varioMax) * 100;
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if (verticalSpeed > varioMax) verticalSpeed = varioMax;
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verticalSpeed = (verticalSpeed * 10) / ((varioMax-varioCenterMax) / 100);
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if ((int16_t)(s_varioTmr-tmr10ms) < 0) {
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uint8_t varioBeepFreq = (verticalSpeed * 10 + 16000) >> 8;
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uint8_t varioBeepTime = (1600 - verticalSpeed) / 100;
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s_varioTmr = tmr10ms + (varioBeepTime*2);
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AUDIO_VARIO(varioBeepFreq, varioBeepTime);
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}
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}
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#else
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int varioCenterMin = (int)g_model.frsky.varioCenterMin * 10 - 50;
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int varioCenterMax = (int)g_model.frsky.varioCenterMax * 10 + 50;
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int varioMax = (10+(int)g_model.frsky.varioMax) * 100;
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int varioMin = (-10+(int)g_model.frsky.varioMin) * 100;
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if (verticalSpeed > varioMax)
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verticalSpeed = varioMax;
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else if (verticalSpeed < varioMin)
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verticalSpeed = varioMin;
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if ((int16_t)(s_varioTmr - tmr10ms) < 0) {
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#if defined(CPUARM)
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int varioBeepFreq, varioBeepTime;
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if (verticalSpeed > varioCenterMin) {
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varioBeepFreq = VARIO_FREQUENCY_ZERO + (g_eeGeneral.varioPitch*10) + (((VARIO_FREQUENCY_RANGE+(g_eeGeneral.varioRange*10)) * verticalSpeed) / varioMax);
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int period = VARIO_REPEAT_ZERO + (g_eeGeneral.varioRepeat*10);
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period -= ((period-VARIO_REPEAT_MAX) * verticalSpeed) / varioMax;
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if (verticalSpeed >= varioCenterMax || varioCenterMin == varioCenterMax)
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varioBeepTime = period / 4;
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else
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varioBeepTime = period * (172 - ((verticalSpeed-varioCenterMin) * 64 / (varioCenterMax-varioCenterMin))) / 256;
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s_varioTmr = tmr10ms + (period/10);
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}
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else {
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varioBeepFreq = VARIO_FREQUENCY_ZERO + (g_eeGeneral.varioPitch*10) - (((VARIO_FREQUENCY_ZERO+(g_eeGeneral.varioPitch*10)-BEEP_MIN_FREQ) * verticalSpeed) / varioMin);
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varioBeepTime = 80; // TODO 20 // continuous beep: we will enter again here before the tone ends
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s_varioTmr = tmr10ms + 1;
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}
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#else
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uint8_t varioBeepFreq, varioBeepTime;
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if (verticalSpeed > 0) {
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varioBeepFreq = (verticalSpeed * 4 + 8000) >> 7;
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varioBeepTime = (8000 - verticalSpeed * 5) / 100;
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}
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else {
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varioBeepFreq = (verticalSpeed * 3 + 8000) >> 7;
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varioBeepTime = 20;
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}
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s_varioTmr = tmr10ms + (varioBeepTime/2);
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#endif
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AUDIO_VARIO(varioBeepFreq, varioBeepTime);
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}
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#endif
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#else // defined(AUDIO)
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int8_t verticalSpeed = limit((int16_t)-100, (int16_t)(frskyData.hub.varioSpeed/10), (int16_t)+100);
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uint16_t interval;
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if (verticalSpeed == 0) {
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interval = 300;
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}
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else {
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if (verticalSpeed < 0) {
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verticalSpeed = -verticalSpeed;
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warble = 1;
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}
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interval = (uint8_t)200 / verticalSpeed;
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}
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if (g_tmr10ms - s_varioTmr > interval) {
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s_varioTmr = g_tmr10ms;
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if (warble)
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AUDIO_VARIO_DOWN();
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else
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AUDIO_VARIO_UP();
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}
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#endif
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}
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else {
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s_varioTmr = tmr10ms;
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}
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}
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#endif
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