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beginnings of cli editing support by cehteh; (still buggy)

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added and began work on integrating failsafe_detect_threshold
got rid of acc_lpf_for_velocity since that seemed no longer used.


git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@317 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-05-09 12:26:11 +00:00
parent 3f8fc1b509
commit b6fc652b20
8 changed files with 103 additions and 25 deletions
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14
src/drv_pwm.c
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@ -118,6 +118,7 @@ static pwmPortData_t *servos[MAX_SERVOS];
static uint8_t numMotors = 0;
static uint8_t numServos = 0;
static uint8_t numInputs = 0;
static uint16_t failsafeThreshold = 985;
// external vars (ugh)
extern int16_t failsafeCnt;
@ -394,6 +395,7 @@ static void ppmCallback(uint8_t port, uint16_t capture)
static uint16_t now;
static uint16_t last = 0;
static uint8_t chan = 0;
static uint8_t GoodPulses;
last = now;
now = capture;
@ -404,6 +406,15 @@ static void ppmCallback(uint8_t port, uint16_t capture)
} else {
if (diff > 750 && diff < 2250 && chan < 8) { // 750 to 2250 ms is our 'valid' channel range
captures[chan] = diff;
if (chan < 4 && diff > failsafeThreshold)
GoodPulses |= (1 << chan); // if signal is valid - mark channel as OK
if (GoodPulses == 0x0F) { // If first four chanells have good pulses, clear FailSafe counter
GoodPulses = 0;
if (failsafeCnt > 20)
failsafeCnt -= 20;
else
failsafeCnt = 0;
}
}
chan++;
failsafeCnt = 0;
@ -434,6 +445,9 @@ bool pwmInit(drv_pwm_config_t *init)
int i = 0;
const uint8_t *setup;
// to avoid importing cfg/mcfg
failsafeThreshold = init->failsafeThreshold;
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
if (init->airplane)
i = 2; // switch to air hardware config