Subversion Repositories FlightCtrl

Rev

Rev 2102 | Rev 2104 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 2102 Rev 2103
Line 124... Line 124...
124 
  return value + NEUTRAL_PULSELENGTH;
 124 
  return value + NEUTRAL_PULSELENGTH;
125 
}
 125 
}
Line 126... Line 126...
126 
 
 126 
 
127 
void calculateControlServoValues(void) {
 127 
void calculateControlServoValues(void) {
128 
  int16_t value;
 128 
  int16_t value;
129 
  for (uint8_t axis=0; axis<3; axis++) {
 129 
  for (uint8_t axis=0; axis<4; axis++) {
130 
        value = controlServos[axis];
 130 
        value = controlServos[axis];
131 
        value /= 2;
 131 
        value *= 2;
132 
        servoValues[axis] = value + NEUTRAL_PULSELENGTH;
 132 
        servoValues[axis] = value + NEUTRAL_PULSELENGTH;
133 
  }
 133 
  }
- 
 
 134 
  debugOut.analog[24] = servoValues[0];
134 
  debugOut.analog[18] = servoValues[0];
 135 
  debugOut.analog[25] = servoValues[1];
- 
 
 136 
  debugOut.analog[26] = servoValues[2];
135 
  debugOut.analog[19] = servoValues[2];
 137 
  debugOut.analog[27] = servoValues[3];
Line 136... Line 138...
136 
}
 138 
}
137 
 
 139 
 
138 
void calculateFeaturedServoValues(void) {
 140 
void calculateFeaturedServoValues(void) {
Line 142... Line 144...
142 
  // Save the computation cost of computing a new value before the old one is used.
 144 
  // Save the computation cost of computing a new value before the old one is used.
143 
  if (!recalculateServoTimes) return;
 145 
  if (!recalculateServoTimes) return;
Line 144... Line 146...
144 
 
 146 
 
145 
  for (axis=0; axis<2; axis++) {
 147 
  for (axis=0; axis<2; axis++) {
146 
        value = featuredServoValue(axis);
 148 
        value = featuredServoValue(axis);
147 
        servoValues[axis + 3] = value;
 149 
        servoValues[axis + 4] = value;
148 
  }
 150 
  }
149 
  for (axis=2; axis<MAX_SERVOS; axis++) {
 151 
  for (axis=2; axis<MAX_SERVOS; axis++) {
150 
        value = 128 * SCALE_FACTOR;
 152 
        value = 128 * SCALE_FACTOR;
151 
        servoValues[axis + 3] = value;
 153 
        servoValues[axis + 4] = value;
Line 152... Line 154...
152 
  }
 154 
  }
153 
 
 155