| 4,6 → 4,7 |
|---|
| #include "output.h" |
| #include "flight.h" |
| #include "attitude.h" |
| #include "timer2.h" |
| |
| // #define COARSERESOLUTION 1 |
| |
| 22,7 → 23,6 |
|---|
| #define CS2 (1<<CS21) |
| #endif |
| |
| #define MAX_SERVOS 8 |
| #define FRAMELEN ((NEUTRAL_PULSELENGTH + SERVOLIMIT) * staticParams.servoCount + 128) |
| #define MIN_PULSELENGTH (NEUTRAL_PULSELENGTH - SERVOLIMIT) |
| #define MAX_PULSELENGTH (NEUTRAL_PULSELENGTH + SERVOLIMIT) |
| 144,13 → 144,13 |
|---|
| // Save the computation cost of computing a new value before the old one is used. |
| if (!recalculateServoTimes) return; |
| |
| for (axis=0; axis<2; axis++) { |
| value = featuredServoValue(axis); |
| servoValues[axis + 4] = value; |
| for (axis= MAX_CONTROL_SERVOS; axis<MAX_CONTROL_SERVOS+2; axis++) { |
| value = featuredServoValue(axis-MAX_CONTROL_SERVOS); |
| servoValues[axis] = value; |
| } |
| for (axis=2; axis<MAX_SERVOS; axis++) { |
| for (axis=MAX_CONTROL_SERVOS+2; axis<MAX_SERVOS; axis++) { |
| value = 128 * SCALE_FACTOR; |
| servoValues[axis + 4] = value; |
| servoValues[axis] = value; |
| } |
| |
| recalculateServoTimes = 0; |