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Fix AFHDS2A failsafe problem

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midelic 2017-11-04 20:40:20 +01:00 committed by GitHub
parent d451af365a
commit f9e6b30550
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1 changed files with 18 additions and 4 deletions
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22
Multiprotocol/AFHDS2A_a7105.ino
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@ -179,12 +179,26 @@ static void AFHDS2A_build_packet(uint8_t type)
packet[0] = 0x56; packet[0] = 0x56;
for(uint8_t ch=0; ch<14; ch++) for(uint8_t ch=0; ch<14; ch++)
{ {
/*if((Model.limits[ch].flags & CH_FAILSAFE_EN)) #ifdef AFHDS2A_FAILSAFE
int8_t failsafe = AFHDS2AFailsafe[ch];
//
if(failsafe != -1)
{ {
packet[9 + ch*2] = Servo_data[CH_AETR[ch]] & 0xff; //
packet[10+ ch*2] = (Servo_data[CH_AETR[ch]] >> 8) & 0xff; if (failsafe > AFHDS2AFailsafeMAX)
failsafe = AFHDS2AFailsafeMAX;
//
if (failsafe < AFHDS2AFailsafeMIN)
failsafe = AFHDS2AFailsafeMIN;
//
double scale = (float)failsafe/(float)100;
int16_t failsafeMicros = 1500 + ((float)512 * scale);
//
packet[9 + ch*2] = failsafeMicros & 0xff;
packet[10+ ch*2] = ( failsafeMicros >> 8) & 0xff;
} }
else*/ else
#endif
{ {
packet[9 + ch*2] = 0xff; packet[9 + ch*2] = 0xff;
packet[10+ ch*2] = 0xff; packet[10+ ch*2] = 0xff;