| 208,7 → 208,8 |
|---|
| // initiate transmission |
| tmp = (s16) (FromFC_ServoRollControl - 128) * 4; |
| if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) ToGimbalCtrl.Roll = -tmp; else ToGimbalCtrl.Roll = tmp; |
| ToGimbalCtrl.Yaw = (s32) SerialChannel.Ch[2] * 20; |
| // ToGimbalCtrl.Yaw = (s32) SerialChannel.Ch[0] * 3; |
| ToGimbalCtrl.Yaw = (s32) (PPM_In[EE_Parameter.GimbalYawChannel]) * 2; |
| ToGimbalCtrl.NRY_Speed = 100; |
| ToGimbalCtrl.Filter = 5; |
| ToGimbalCtrl.Nick = NickGimbal; |
| 239,8 → 240,9 |
|---|
| |
| I2CBus_Transmission(I2C0, GIMBAL_SLAVE_ADDRESS, &ToGimbalCtrl, sizeof(ToGimbalCtrl)+1, &GimbalCtrl_UpdateData, RxBytes); |
| timing = GIMBAL_DATARATE; |
| ToGimbalCtrl.BitCmd = 0; // reset the Flags |
| ToGimbalCtrl.BitCmd = GIMBAL_CMD_SPEED; // reset the Flags |
| old_nick = NickGimbal; |
| |
| } |
| else timing = 11; // try again in 11ms |
| } |