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E016H calibration

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This commit is contained in:
Pascal Langer 2019-04-03 09:06:15 +02:00
parent 65606f7083
commit 8a7beda339
2 changed files with 9 additions and 3 deletions
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10
Multiprotocol/E01X_nrf24l01.ino
View File

@ -65,6 +65,7 @@
#define E015_FLAG_INTERMEDIATE 0x01
// E016H flags packet[1]
#define E016H_FLAG_CALIBRATE 0x80
#define E016H_FLAG_STOP 0x20
#define E016H_FLAG_FLIP 0x04
// E016H flags packet[3]
@ -96,7 +97,7 @@ static void __attribute__((unused)) E015_check_arming()
static void __attribute__((unused)) E01X_send_packet(uint8_t bind)
{
uint8_t can_flip = 0;
uint8_t can_flip = 0, calibrate = 1;
if(sub_protocol==E012)
{
packet_length=E012_PACKET_SIZE;
@ -188,22 +189,27 @@ static void __attribute__((unused)) E01X_send_packet(uint8_t bind)
can_flip |= (val < 0x100) || (val > 0x300);
packet[1] = val >> 8;
packet[2] = val & 0xff;
if(val < 0x300) calibrate = 0;
// elevator
val = convert_channel_16b_limit(ELEVATOR, 0x3ff, 0);
can_flip |= (val < 0x100) || (val > 0x300);
packet[3] = val >> 8;
packet[4] = val & 0xff;
if(val < 0x300) calibrate = 0;
// throttle
val = convert_channel_16b_limit(THROTTLE, 0, 0x3ff);
packet[5] = val >> 8;
packet[6] = val & 0xff;
if(val > 0x100) calibrate = 0;
// rudder
val = convert_channel_16b_limit(RUDDER, 0, 0x3ff);
packet[7] = val >> 8;
packet[8] = val & 0xff;
if(val > 0x100) calibrate = 0;
// flags
packet[1] |= GET_FLAG(E016H_STOP_SW, E016H_FLAG_STOP)
| (can_flip ? GET_FLAG(E01X_FLIP_SW, E016H_FLAG_FLIP) : 0);
| (can_flip ? GET_FLAG(E01X_FLIP_SW, E016H_FLAG_FLIP) : 0)
| (calibrate ? E016H_FLAG_CALIBRATE : 0);
packet[3] |= GET_FLAG(E01X_HEADLESS_SW, E016H_FLAG_HEADLESS)
| GET_FLAG(E01X_RTH_SW, E016H_FLAG_RTH);
packet[7] |= E016H_FLAG_HIGHRATE;

2
Multiprotocol/Multiprotocol.h
View File

@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 2
#define VERSION_REVISION 1
#define VERSION_PATCH_LEVEL 30
#define VERSION_PATCH_LEVEL 31
//******************
// Protocols