60 lines
2.8 KiB
Plaintext
60 lines
2.8 KiB
Plaintext
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[1mdiff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c[m
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[1mindex fdde2cf..53464ef 100644[m
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[1m--- a/src/main/io/rc_controls.c[m
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[1m+++ b/src/main/io/rc_controls.c[m
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[36m@@ -67,6 +67,7 @@[m [mstatic pidProfile_t *pidProfile;[m
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static bool isUsingSticksToArm = true;[m
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[m
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int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW[m
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[32m+[m[32mint16_t rcCommandSmooth[4]; // Smoothed RcCommand[m
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[m
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uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e[m
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[m
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[1mdiff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h[m
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[1mindex eaec277..dd8afaf 100644[m
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[1m--- a/src/main/io/rc_controls.h[m
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[1m+++ b/src/main/io/rc_controls.h[m
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[36m@@ -147,6 +147,7 @@[m [mtypedef struct controlRateConfig_s {[m
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} controlRateConfig_t;[m
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[m
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extern int16_t rcCommand[4];[m
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[32m+[m[32mextern int16_t rcCommandSmooth[4]; // Smoothed RcCommand[m
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[m
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typedef struct rcControlsConfig_s {[m
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uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.[m
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[1mdiff --git a/src/main/mw.c b/src/main/mw.c[m
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[1mindex 125674c..5da79cf 100644[m
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[1m--- a/src/main/mw.c[m
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[1m+++ b/src/main/mw.c[m
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[36m@@ -181,7 +181,7 @@[m [mvoid filterRc(void)[m
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[m
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if (isRXDataNew) {[m
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for (int channel=0; channel < 4; channel++) {[m
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[31m- deltaRC[channel] = rcCommand[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);[m
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[32m+[m[32m deltaRC[channel] = rcCommand[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor);[m
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lastCommand[channel] = rcCommand[channel];[m
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}[m
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[m
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[36m@@ -194,7 +194,7 @@[m [mvoid filterRc(void)[m
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// Interpolate steps of rcCommand[m
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if (factor > 0) {[m
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for (int channel=0; channel < 4; channel++) {[m
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[31m- rcCommand[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;[m
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[32m+[m[32m rcCommandSmooth[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor;[m
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}[m
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} else {[m
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factor = 0;[m
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[36m@@ -649,8 +649,11 @@[m [mvoid subTaskMainSubprocesses(void) {[m
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[m
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const uint32_t startTime = micros();[m
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[m
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[32m+[m[32m filterRc();[m
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[32m+[m
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if (masterConfig.rxConfig.rcSmoothing || flightModeFlags) {[m
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[31m- filterRc();[m
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[32m+[m[32m int axis;[m
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[32m+[m[32m for (axis = 0; axis <= 4; axis++) rcCommand[axis] = rcCommandSmooth[axis];[m
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}[m
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[m
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// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.[m
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