| 1,6 → 1,7 |
|---|
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "fc.h" |
| #include "eeprom.h" |
| |
| volatile int16_t ServoValue = 0; |
| |
| 69,28 → 70,28 |
|---|
| |
| ServoValue = Parameter_ServoNickControl; |
| // inverting movment of servo |
| if(EE_Parameter.ServoNickCompInvert & 0x01) |
| if(ParamSet.ServoNickCompInvert & 0x01) |
| { |
| ServoValue += ((int32_t) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| ServoValue += ((int32_t) ParamSet.ServoNickComp * (IntegralNick / 128)) / 512; |
| } |
| else // non inverting movement of servo |
| { |
| ServoValue -= ((int32_t) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| ServoValue -= ((int32_t) ParamSet.ServoNickComp * (IntegralNick / 128)) / 512; |
| } |
| |
| // limit servo value to its parameter range definition |
| if(ServoValue < EE_Parameter.ServoNickMin) |
| if(ServoValue < ParamSet.ServoNickMin) |
| { |
| ServoValue = EE_Parameter.ServoNickMin; |
| ServoValue = ParamSet.ServoNickMin; |
| } |
| else if(ServoValue > EE_Parameter.ServoNickMax) |
| else if(ServoValue > ParamSet.ServoNickMax) |
| { |
| ServoValue = EE_Parameter.ServoNickMax; |
| ServoValue = ParamSet.ServoNickMax; |
| } |
| |
| // update PWM |
| OCR2A = ServoValue; |
| timer = EE_Parameter.ServoNickRefresh; |
| timer = ParamSet.ServoNickRefresh; |
| } |
| else |
| { |