Looking over your code closely, I realized something. Do you pause in the TX output for 16 ~ 20ms before starting up your next frame?
I am not doing that, it may be why I am seeing the results I am seeing. using a continuous back to back output from the TX @ 4800bps I am able to get 4 servo + 2 hardware PWM control. BTW I figured out why my servo is a bit coarse. in your code you multiply with a 2 constant. I am not moving in 2us increments. I am doing the following: 2* (4*byte + 500), So for every crank on the potentiometer I am moving in chunks of 8us, so I am not loosing packets, its my scaling factor....ggeeeezzz.
yes, it is an aircraft. Actually VTOL.
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