Rev 865 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 865 | Rev 866 | ||
|---|---|---|---|
| Line 213... | Line 213... | ||
| 213 | // initiate transmission |
213 | // initiate transmission |
| 214 | tmp = (s16) (FromFC_ServoRollControl - 128) * 4; |
214 | tmp = (s16) (FromFC_ServoRollControl - 128) * 4; |
| 215 | if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) ToGimbalCtrl.Roll = tmp; else ToGimbalCtrl.Roll = -tmp; |
215 | if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) ToGimbalCtrl.Roll = tmp; else ToGimbalCtrl.Roll = -tmp; |
| 216 | // ToGimbalCtrl.Yaw = (s32) SerialChannel.Ch[0] * 3; |
216 | // ToGimbalCtrl.Yaw = (s32) SerialChannel.Ch[0] * 3; |
| 217 | ToGimbalCtrl.Yaw = (s32) (PPM_In[EE_Parameter.GimbalYawChannel]) * -2; |
217 | ToGimbalCtrl.Yaw = (s32) (PPM_In[EE_Parameter.GimbalYawChannel]) * -2; |
| - | 218 | ||
| - | 219 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 220 | // digital switching outputs |
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| - | 221 | if(PPM_In[EE_Parameter.GimbalOut1Channel] > 10) ToGimbalCtrl.BitCmd |= GIMBAL_CMD_OUT1; |
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| - | 222 | if(PPM_In[EE_Parameter.GimbalOut2Channel] > 10) ToGimbalCtrl.BitCmd |= GIMBAL_CMD_OUT2; |
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| - | 223 | // flags will be reset after transmitting |
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| - | 224 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 225 | ||
| 218 | if(FromMenuGimbalYaw) ToGimbalCtrl.Yaw = FromMenuGimbalYaw; |
226 | if(FromMenuGimbalYaw) ToGimbalCtrl.Yaw = FromMenuGimbalYaw; |
| 219 | ToGimbalCtrl.NRY_Speed = 100; |
227 | ToGimbalCtrl.NRY_Speed = 100; |
| 220 | ToGimbalCtrl.Filter = 5; |
228 | ToGimbalCtrl.Filter = 5; |
| 221 | ToGimbalCtrl.Nick = NickGimbal; |
229 | ToGimbalCtrl.Nick = NickGimbal; |
| 222 | // ++++++++++++++++++++++++++++++++++++++++++++++ |
230 | // ++++++++++++++++++++++++++++++++++++++++++++++ |