| 139,15 → 139,17 |
|---|
| value = controlServos[axis]; |
| |
| // Apply configurable limits. These are signed: +-128 is twice the normal +- 0.5 ms limit and +- 64 is normal. |
| int16_t min = (staticParams.servos[axis].minValue * SERVO_NORMAL_LIMIT) >> 6; |
| int16_t max = (staticParams.servos[axis].maxValue * SERVO_NORMAL_LIMIT) >> 6; |
| int16_t min = (int16_t)staticParams.servos[axis].minValue * (SERVO_NORMAL_LIMIT >> 6); |
| int16_t max = (int16_t)staticParams.servos[axis].maxValue * (SERVO_NORMAL_LIMIT >> 6); |
| |
| if (value < min) value = min; |
| if (value < -min) value = -min; |
| else if (value > max) value = max; |
| |
| if (value < -SERVO_ABS_LIMIT) value = -SERVO_ABS_LIMIT; |
| else if (value > SERVO_ABS_LIMIT) value = SERVO_ABS_LIMIT; |
| |
| debugOut.analog[24+axis] = value; |
| |
| servoValues[axis] = value + NEUTRAL_PULSELENGTH; |
| } |
| } |
| 173,6 → 175,8 |
|---|
| } |
| */ |
| |
| uint8_t finalServoMap[] = {1,0,0,2,4,5,6,7}; |
| |
| ISR(TIMER2_COMPA_vect) { |
| static uint16_t remainingPulseTime; |
| static uint8_t servoIndex = 0; |
| 182,7 → 186,7 |
|---|
| // Pulse is over, and the next pulse has already just started. Calculate length of next pulse. |
| if (servoIndex < staticParams.servoCount) { |
| // There are more signals to output. |
| sumOfPulseTimes += (remainingPulseTime = servoValues[servoIndex]); |
| sumOfPulseTimes += (remainingPulseTime = servoValues[finalServoMap[servoIndex]]); |
| servoIndex++; |
| } else { |
| // There are no more signals. Reset the counter and make this pulse cover the missing frame time. |