| 214,7 → 214,7 |
|---|
| 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[0] * 3; |
| ToGimbalCtrl.Yaw = (s32) (PPM_In[EE_Parameter.GimbalYawChannel]) * -1; // war bis 1.21* -2 -> das Gimbal nimmt aber seltsamerweise manchmal nur +-200 an |
| ToGimbalCtrl.Yaw = (s32) (PPM_In[EE_Parameter.GimbalYawChannel]) * -1; // war bis 1.21 * -2 -> das Gimbal nimmt aber seltsamerweise manchmal nur +-200 an |
| |
| // ++++++++++++++++++++++++++++++++++++++++++++++ |
| // digital switching outputs |
| 223,7 → 223,6 |
|---|
| // flags will be reset after transmitting |
| // ++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| if(FromMenuGimbalYaw) ToGimbalCtrl.Yaw = FromMenuGimbalYaw; |
| ToGimbalCtrl.NRY_Speed = 100; |
| ToGimbalCtrl.Filter = 5; |
| ToGimbalCtrl.Nick = NickGimbal; |
| 235,7 → 234,9 |
|---|
| { |
| if(EE_Parameter.ServoFS_Pos[0]) (s32)((u32)EE_Parameter.ServoFS_Pos[0] * 10) - 1280; //else ToGimbalCtrl.Nick = 0; |
| if(EE_Parameter.ServoFS_Pos[1]) (s32)((u32)EE_Parameter.ServoFS_Pos[1] * 10) - 1280; //else ToGimbalCtrl.Roll = 0; |
| ToGimbalCtrl.Yaw = 0; |
| } |
| if(FromMenuGimbalYaw) ToGimbalCtrl.Yaw = FromMenuGimbalYaw; |
| |
| min_n = (s32)((u32)EE_Parameter.ServoNickMin * 10) - 1280; |
| max_n = (s32)((u32)EE_Parameter.ServoNickMax * 10) - 1280; |