From 20e32c4cb0a939e8a90e49c376f28810297d746b Mon Sep 17 00:00:00 2001
From: Pascal Langer <planger@mathworks.com>
Date: Mon, 30 Nov 2020 13:36:29 +0100
Subject: [PATCH] Fix XK450 twitching?

---
 Multiprotocol/Multiprotocol.h |  4 +++-
 Multiprotocol/XK_nrf24l01.ino | 20 +++++++++++++++-----
 2 files changed, 18 insertions(+), 6 deletions(-)

diff --git a/Multiprotocol/Multiprotocol.h b/Multiprotocol/Multiprotocol.h
index f6ea988..64d23d6 100644
--- a/Multiprotocol/Multiprotocol.h
+++ b/Multiprotocol/Multiprotocol.h
@@ -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
diff --git a/Multiprotocol/XK_nrf24l01.ino b/Multiprotocol/XK_nrf24l01.ino
index d47df04..5b21608 100644
--- a/Multiprotocol/XK_nrf24l01.ino
+++ b/Multiprotocol/XK_nrf24l01.ino
@@ -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];