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Compare Revisions

• This comparison shows the changes necessary to convert path

  → /branches/V0.71h Code Redesign killagreg @ 1104

  → /branches/V0.71h Code Redesign killagreg/ @ 1107

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 1104 → Rev 1107

/branches/V0.71h Code Redesign killagreg/fc.c
1242,7 → 1242,6
//DebugOut.Analog[16] = Mean_AccTop;
//DebugOut.Analog[17] = FromNaviCtrl_Value.Distance;
//DebugOut.Analog[18] = FromNaviCtrl_Value.OsdBar;
DebugOut.Analog[20] = ServoValue;
DebugOut.Analog[27] = (int16_t)FCParam.Kalman_MaxDrift;
DebugOut.Analog[29] = (int16_t)FCParam.Kalman_K;
DebugOut.Analog[30] = GPS_Nick;

/branches/V0.71h Code Redesign killagreg/timer2.c
82,10 → 82,8
case 4:
// recalculate new ServoValue
ServoValue = 0x0030; // Offset (part 1)
DebugOut.Analog[16] = ServoValue;
FilterServo = (3 * FilterServo + (uint16_t)FCParam.ServoNickControl * 2) / 4; // lowpass static offset
ServoValue += FilterServo; // add filtered static offset
if(ParamSet.ServoNickCompInvert & 0x01)
{ // inverting movement of servo
ServoValue += (int16_t)( ( (int32_t)ParamSet.ServoNickComp * (IntegralNick / 128L ) ) / (512L/MULTIPLIER) );
94,7 → 92,6
{ // non inverting movement of servo
ServoValue -= (int16_t)( ( (int32_t)ParamSet.ServoNickComp * (IntegralNick / 128L ) ) / (512L/MULTIPLIER) );
}
// limit servo value to its parameter range definition
if(ServoValue < ((int16_t)ParamSet.ServoNickMin * 3) )
{
105,8 → 102,8
{
ServoValue = (int16_t)ParamSet.ServoNickMax * 3;
}
DebugOut.Analog[20] = ServoValue;
DebugOut.Analog[20] = ServoValue;
// determine prepulse width (remaining part of ServoValue/Timer Cycle)
if ((ServoValue % 255) < 45)
{ // if prepulse width is to short the execution time of this ISR is longer than the next compare match