/elec/quadcopter

To get this branch, use:
bzr branch http://bzr.ed.am/elec/quadcopter

« back to all changes in this revision

Viewing changes to src/rc-interface/receiver.cc

  • Committer: Tim Marston
  • Date: 2014-02-05 20:30:43 UTC
  • Revision ID: tim@ed.am-20140205203043-mkxrtvjww6cte95n
updated rc-interface comments

Show diffs side-by-side

added added

removed removed

Lines of Context:
src/rc-interface/receiver.cc
5
5
 
6
6
#include "receiver.h"
7
7
#include "config.h"
8
 
#include "common.h"
9
8
#include <Arduino.h>
10
9
#include <limits.h>
11
10
 
56
55
}
57
56
 
58
57
 
 
58
static unsigned long calculate_duration( unsigned long then, unsigned long now )
 
59
{
 
60
        return now - then;
 
61
        
 
62
        if( now < then )
 
63
                return now + ( ULONG_MAX - then );
 
64
        else
 
65
                return now - then;
 
66
}
 
67
 
 
68
 
59
69
bool Receiver::read_channels( int channel_values[] )
60
70
{
61
71
        static unsigned long last_pulse_down = 0;