| 8,6 → 8,7 |
|---|
| |
| #ifdef COARSERESOLUTION |
| #define NEUTRAL_PULSELENGTH 938 |
| #define STABILIZATION_LOG_DIVIDER 6 |
| #define SERVOLIMIT 500 |
| #define SCALE_FACTOR 4 |
| #define CS2 ((1<<CS21)|(1<<CS20)) |
| 15,6 → 16,7 |
|---|
| #else |
| |
| #define NEUTRAL_PULSELENGTH 3750 |
| #define STABILIZATION_LOG_DIVIDER 4 |
| #define SERVOLIMIT 2000 |
| #define SCALE_FACTOR 16 |
| #define CS2 (1<<CS21) |
| 105,11 → 107,11 |
|---|
| } servo_t;*/ |
| |
| int16_t calculateStabilizedServoAxis(uint8_t axis) { |
| int32_t value = attitude[axis] / 64L; // between -500000 to 500000 extreme limits. Just about |
| int32_t value = attitude[axis] >> STABILIZATION_LOG_DIVIDER; // between -500000 to 500000 extreme limits. Just about |
| // With full blast on stabilization gain (255) we want to convert a delta of, say, 125000 to 2000. |
| // That is a divisor of about 1<<14. Same conclusion as H&I. |
| value *= staticParams.servoConfigurations[axis].stabilizationFactor; |
| value /= 256L; |
| value = value >> 8; |
| if (staticParams.servoConfigurations[axis].flags & SERVO_STABILIZATION_REVERSE) |
| return -value; |
| return value; |