| 174,10 → 174,21 |
|---|
| else if( ServoValue > ( (int) EE_Parameter.ServoNickMax * 3 ) ) |
| ServoValue = (int) EE_Parameter.ServoNickMax * 3; |
| |
| long integral; |
| |
| /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
| * umschalten (sh. parameter.h) |
| */ |
| if( PARAM_X_FORMATION ) { |
| integral = IntegralNick - IntegralRoll; |
| } else { |
| integral = IntegralNick; |
| } |
| |
| if( EE_Parameter.ServoNickCompInvert & 0x01 ) |
| ServoValue += ( (long) ( (long) EE_Parameter.ServoNickComp * ( IntegralNick - IntegralRoll ) ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
| ServoValue += ( (long) ( (long) EE_Parameter.ServoNickComp * integral ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
| else |
| ServoValue -= ( (long) ( (long) EE_Parameter.ServoNickComp * ( IntegralNick - IntegralRoll ) ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
| ServoValue -= ( (long) ( (long) EE_Parameter.ServoNickComp * integral ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
| |
| DebugOut.Analog[20] = ServoValue; |
| |