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remove unnecessary averaging of PWM/PPM rc input

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This commit is contained in:
dongie 2014-05-28 17:30:55 +09:00
parent 0028fa2ce4
commit 88036ec551
1 changed files with 11 additions and 17 deletions
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28
src/mw.c
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@ -229,36 +229,30 @@ uint16_t pwmReadRawRC(uint8_t chan)
void computeRC(void)
{
uint8_t chan;
uint16_t capture;
int i, chan;
if (feature(FEATURE_SERIALRX)) {
for (chan = 0; chan < 8; chan++)
rcData[chan] = rcReadRawFunc(chan);
} else {
static int16_t rcData4Values[8][4], rcDataMean[8];
static uint8_t rc4ValuesIndex = 0;
uint16_t capture;
uint8_t a;
static int16_t rcDataAverage[8][4];
static int rcAverageIndex = 0;
rc4ValuesIndex++;
for (chan = 0; chan < 8; chan++) {
capture = rcReadRawFunc(chan);
// validate input
if (capture < PULSE_MIN || capture > PULSE_MAX)
capture = mcfg.midrc;
rcData4Values[chan][rc4ValuesIndex % 4] = capture;
rcDataMean[chan] = 0;
for (a = 0; a < 4; a++)
rcDataMean[chan] += rcData4Values[chan][a];
rcDataMean[chan] = (rcDataMean[chan] + 2) / 4;
if (rcDataMean[chan] < rcData[chan] - 3)
rcData[chan] = rcDataMean[chan] + 2;
if (rcDataMean[chan] > rcData[chan] + 3)
rcData[chan] = rcDataMean[chan] - 2;
rcDataAverage[chan][rcAverageIndex % 4] = capture;
// clear this since we're not accessing it elsewhere. saves a temp var
rcData[chan] = 0;
for (i = 0; i < 4; i++)
rcData[chan] += rcDataAverage[chan][i];
rcData[chan] /= 4;
}
rcAverageIndex++;
}
}