| 18,7 → 18,7 |
|---|
| throttle = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + HELI_THROTTLE_DEADBAND; |
| if (throttle < 5) throttle = 0; |
| |
| tmp = throttle / HELI_THROTTLE_SENSITIVITY; |
| 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) { |
| 27,12 → 27,12 |
|---|
| servo[4] = tmp; |
| |
| // pitch |
| pitch = throttle / HELI_PITCH_SENSITIVITY + HELI_PITCH_BASE; |
| pitch = throttle * 5 / HELI_PITCH_SENSITIVITY + HELI_PITCH_BASE; |
| if (pitch > HELI_MAX_PITCH) pitch = HELI_MAX_PITCH; |
| |
| servo[0] = 127 - pitch; |
| servo[1] = 127 + pitch; |
| servo[2] = 127 + 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); |
| 40,20 → 40,20 |
|---|
| |
| // nick |
| nick /= HELI_NICK_GYRO_SENSITIVITY; |
| nick -= PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] / HELI_NICK_SENSITIVITY; |
| servo[0] -= nick; |
| servo[1] += nick; |
| servo[2] -= nick; |
| 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]] / HELI_ROLL_SENSITIVITY; |
| servo[0] += roll; |
| servo[1] += roll; |
| 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); |
| servo[3] = 127 + (tmp + (PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] * 4 / HELI_YAW_SENSITIVITY) * SERVO4_DIR); |
| |
| // not used |
| servo[5] = 127; |