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Fix XK450 twitching?

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This commit is contained in:
Pascal Langer 2020-11-30 13:36:29 +01:00
parent b4421306c0
commit 20e32c4cb0
2 changed files with 18 additions and 6 deletions
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4
Multiprotocol/Multiprotocol.h
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@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 3
#define VERSION_REVISION 1
#define VERSION_PATCH_LEVEL 77
#define VERSION_PATCH_LEVEL 78
//******************
// Protocols
@ -103,6 +103,7 @@ enum PROTOCOLS
PROTO_RLINK = 74, // =>CC2500
PROTO_REALACC = 76, // =>NRF24L01
PROTO_OMP = 77, // =>CC2500 & NRF24L01
PROTO_MLINK = 78, // =>CYRF6936
PROTO_NANORF = 126, // =>NRF24L01
PROTO_TEST = 127, // =>CC2500
@ -834,6 +835,7 @@ Serial: 100000 Baud 8e2 _ xxxx xxxx p --
RLINK 74
REALACC 76
OMP 77
MLINK 78
BindBit=> 0x80 1=Bind/0=No
AutoBindBit=> 0x40 1=Yes /0=No
RangeCheck=> 0x20 1=Yes /0=No

20
Multiprotocol/XK_nrf24l01.ino
View File

@ -29,7 +29,16 @@ Multiprotocol is distributed in the hope that it will be useful,
static uint16_t __attribute__((unused)) XK_convert_channel(uint8_t num)
{
uint16_t val=convert_channel_10b(num);
uint16_t val;
if(num==RUDDER)
{// introduce deadband on rudder to prevent twitching
//debug("RUD:%d",val);
val=convert_channel_8b_limit_deadband(RUDDER,0x00,0x80, 0xFF, 40)<<2;
//debugln(",%d",val);
}
else
val=convert_channel_10b(num);
// 1FF..01=left, 00=center, 200..3FF=right
if(val==0x200)
val=0; // 0
@ -58,16 +67,16 @@ static void __attribute__((unused)) XK_send_packet()
{
uint16_t val=convert_channel_10b(THROTTLE);
packet[0] = val>>2; // 0..255
//packet[12] |= val & 2;
packet[12] |= val & 2;
val=XK_convert_channel(RUDDER);
packet[1] = val>>2;
//packet[12] |= (val & 2)<<2;
packet[12] |= (val & 2)<<2;
val=XK_convert_channel(ELEVATOR);
packet[2] = val>>2;
//packet[13] |= val & 2;
packet[13] |= val & 2;
val=XK_convert_channel(AILERON);
packet[3] = val>>2;
//packet[13] |= (val & 2)<<2;
packet[13] |= (val & 2)<<2;
memset(&packet[4],0x40,3); // Trims
@ -84,6 +93,7 @@ static void __attribute__((unused)) XK_send_packet()
|GET_FLAG(CH6_SW,0x40); // Take off momentary switch
packet[14] = GET_FLAG(CH9_SW,0x01) // Photo momentary switch
|GET_FLAG(CH10_SW,0x2); // Video momentary switch
//debugln("P1:%02X,P12:%02X",packet[1],packet[12]);
}
crc=packet[0];