All things related to MultiWii
Skip to content
Post by kos » Wed Mar 14, 2012 5:54 pm
Code: Select all
//PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value if (rcData[THROTTLE]<1500) prop2 = 100; else if (rcData[THROTTLE]<2000) prop2 = 100 - (uint16_t)dynThrPID*(rcData[THROTTLE]-1500)/500; else prop2 = 100 - dynThrPID;
#define MIDRC 1500
#define HOVER MIDRC+THRoffest
Post by kos » Tue Mar 27, 2012 6:28 pm
if (900<dTime && dTime<2200) rcValue[0] = dTime; // just a verification: the value must be in the range [1000;2000] + some margin
if ((sbus[23]) & 0x0001) rcValue[16] = 2000; else rcValue[16] = 1000;
Return to “Software development”