| 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]) * -2; |
| 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 |
| 227,6 → 227,7 |
|---|
| ToGimbalCtrl.NRY_Speed = 100; |
| ToGimbalCtrl.Filter = 5; |
| ToGimbalCtrl.Nick = NickGimbal; |
| ToGimbalCtrl.Compass = GyroCompassCorrected; |
| // ++++++++++++++++++++++++++++++++++++++++++++++ |
| // + limit angles (0 = -128° 255 = +127°) |
| // ++++++++++++++++++++++++++++++++++++++++++++++ |
| 250,6 → 251,7 |
|---|
| ToGimbalCtrl.Nick = 0; |
| ToGimbalCtrl.Roll = 0; |
| ToGimbalCtrl.Yaw = 0; |
| ToGimbalCtrl.Compass = -1; |
| } |
| // ++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Crc |