Rev 1453 | Rev 1465 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1453 | Rev 1454 | ||
|---|---|---|---|
| Line 1584... | Line 1584... | ||
| 1584 | 1584 | ||
| 1585 | // throttle |
1585 | // throttle |
| 1586 | throttle = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + Mixer.Motor[2][0]; |
1586 | throttle = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + Mixer.Motor[2][0]; |
| Line -... | Line 1587... | ||
| - | 1587 | if (throttle < 0) throttle = 0; |
|
| - | 1588 | ||
| - | 1589 | tmp = throttle / Mixer.Motor[3][0]; |
|
| 1587 | if (throttle < 0) throttle = 0; |
1590 | if (tmp > Mixer.Motor[3][1] * 2) tmp = Mixer.Motor[3][1] * 2; |
| 1588 | 1591 | DebugOut.Analog[7] = tmp; |
|
| 1589 | if (MotorenEin == 0 || MikroKopterFlags & FLAG_NOTLANDUNG) { |
- | |
| 1590 | tmp = 0; |
- | |
| 1591 | } else { |
- | |
| 1592 | tmp = throttle / Mixer.Motor[3][0]; |
1592 | if (MotorenEin == 0 || MikroKopterFlags & FLAG_NOTLANDUNG) { |
| 1593 | if (tmp > Mixer.Motor[3][1] * 2) tmp = Mixer.Motor[3][1] * 2; |
1593 | tmp = 0; |
| Line 1594... | Line 1594... | ||
| 1594 | } |
1594 | } |
| 1595 | servo[4] = tmp; |
1595 | servo[4] = tmp; |
| Line 1628... | Line 1628... | ||
| 1628 | 1628 | ||
| 1629 | for(tmp = 0; tmp < 6; tmp++) { |
1629 | for(tmp = 0; tmp < 6; tmp++) { |
| 1630 | servoValues[tmp] = MakeByte(servo[tmp]); |
1630 | servoValues[tmp] = MakeByte(servo[tmp]); |
| Line 1631... | Line 1631... | ||
| 1631 | } |
1631 | } |
| 1632 | 1632 | ||
| 1633 | DebugOut.Analog[12] = servo[0]; |
1633 | DebugOut.Analog[12] = servo[0]; |
| 1634 | DebugOut.Analog[13] = servo[1]; |
1634 | DebugOut.Analog[13] = servo[1]; |
| 1635 | DebugOut.Analog[14] = servo[2]; |
1635 | DebugOut.Analog[14] = servo[2]; |
| 1636 | DebugOut.Analog[15] = servo[3]; |
- | |
| Line 1637... | Line 1636... | ||
| 1637 | DebugOut.Analog[6] = pitch; |
1636 | DebugOut.Analog[15] = servo[3]; |
| Line 1638... | Line 1637... | ||
| 1638 | DebugOut.Analog[7] = servo[4]; |
1637 | DebugOut.Analog[6] = pitch; |