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SLT/Q200: gyro calibration on CH13

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This commit is contained in:
Pascal Langer 2018-09-07 10:38:22 +02:00
parent 4f9c30505a
commit e2a66bdd1f
2 changed files with 15 additions and 3 deletions
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2
Multiprotocol/Multiprotocol.h
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@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 2
#define VERSION_REVISION 0
#define VERSION_PATCH_LEVEL 41
#define VERSION_PATCH_LEVEL 42
//******************
// Protocols

16
Multiprotocol/SLT_nrf24l01.ino
View File

@ -121,6 +121,8 @@ static void __attribute__((unused)) SLT_send_packet(uint8_t len)
static void __attribute__((unused)) SLT_build_packet()
{
static uint8_t calib_counter=0;
// Set radio channel - once per packet batch
NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
if (++hopping_frequency_no >= SLT_NFREQCHANNELS)
@ -148,8 +150,18 @@ static void __attribute__((unused)) SLT_build_packet()
|GET_FLAG(CH12_SW, FLAG_Q200_VIDOFF);
packet[7]=convert_channel_8b(CH7);
packet[8]=convert_channel_8b(CH8);
packet[9]=0xAA; //unknown
packet[10]=0x00; //unknown
packet[9]=0xAA; //normal mode for Q200, unknown for V2
packet[10]=0x00; //normal mode for Q200, unknown for V2
if(sub_protocol==Q200 && CH13_SW)
{//Calibrate
packet[9]=0x77; //enter calibration
if(calib_counter>=20 && calib_counter<=23) // 3 packets
packet[10]=0x20; //launch calibration
calib_counter++;
if(calib_counter>250) calib_counter=250;
}
else
calib_counter=0;
}
}