// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Servo Mixer
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#if 0
{




}
#else

	{
		int16_t nick, roll, tmp, pitch, throttle;
		int16_t servo[6];

    	// throttle
    	throttle = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + HELI_THROTTLE_DEADBAND;
    	if (throttle < 5) throttle = 0;

    	tmp = throttle * 10 / HELI_THROTTLE_SENSITIVITY;
    	if (tmp > HELI_MAX_THROTTLE * 2) tmp = HELI_MAX_THROTTLE * 2;
		DebugOut.Analog[7] = tmp;
		if (MotorenEin == 0 || MikroKopterFlags & FLAG_NOTLANDUNG) {
			tmp = 0;
	    }
    	servo[4] = tmp;

		// pitch
    	pitch = throttle * 5 / HELI_PITCH_SENSITIVITY + HELI_PITCH_BASE;
    	if (pitch > HELI_MAX_PITCH) pitch = HELI_MAX_PITCH;

		servo[0] = 127 - (pitch * SERVO1_DIR);
		servo[1] = 127 + (pitch * SERVO2_DIR);
		servo[2] = 127 + (pitch * SERVO3_DIR);


    	nick = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
    	roll = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);

		// nick
    	nick /= HELI_NICK_GYRO_SENSITIVITY;
    	nick -= PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * 10 / HELI_NICK_SENSITIVITY;
    	servo[0] -= (nick * SERVO1_DIR);
    	servo[1] += (nick * SERVO2_DIR);
    	servo[2] -= (nick * SERVO3_DIR);

		// roll
    	roll /= HELI_ROLL_GYRO_SENSITIVITY;
    	roll -= PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * 10 / HELI_ROLL_SENSITIVITY;
    	servo[0] += (roll * SERVO1_DIR);;
    	servo[1] += (roll * SERVO2_DIR);;

    	// yaw
    	tmp = MesswertGier / HELI_YAW_GYRO_SENSITIVITY;
    	servo[3] = 127 + (tmp + (PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] * 4 / HELI_YAW_SENSITIVITY) * SERVO4_DIR);

    	// not used
    	servo[5] = 127;

    	for(tmp = 0; tmp < 6; tmp++) {
    		int t;
    		t = servo[tmp] + Mixer.Motor[tmp][3];
    		if (t < 0) t = 0;
    		else if (t > 255) t = 255;
    		servoValues[tmp] = t;
    	}

		DebugOut.Analog[12] = servo[0];
		DebugOut.Analog[13] = servo[1];
		DebugOut.Analog[14] = servo[2];
		DebugOut.Analog[15] = servo[3];
		DebugOut.Analog[6] = pitch;

	}


#endif