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/******************************************************************************************************************
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/******************************************************************************************************************
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V0.82b-Arthur-P 2010-12-18
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V0.82b-Arthur-P 2010-12-18
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Version includes only support for external HEF4017 for FC1.x hardware, NOT for Twi2Ppm converters for ESCs.
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Version includes only support for external HEF4017 for FC1.x hardware, NOT for Twi2Ppm converters for ESCs.
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2010-12-18 Transferred changes to v.0.82b-Arthur-P and chande the if(Platinenversion < 20) statement in the
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2010-12-18 Transferred changes to v.0.82b-Arthur-P
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new servocontrol calculating routine to correctly identify external HEF4017.
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20100917: Transferred changes to v0.80g-Arthur-P.
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20100917: Transferred changes to v0.80g-Arthur-P.
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Arthur P. Modified to use several parameters for servo control:
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Arthur P. Modified to use several parameters for servo control:
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User_Parameter4:
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User_Parameter4:
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User_Parameter5:
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User_Parameter5:
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                else
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                else
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                if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
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                if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) )
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                {
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                {
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                        ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
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                        ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER;
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                }
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                }
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/******************************************************************************************************************
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Arthur P: Modified the code to check the value of parameter 8. If 128 or higher then a HEF4017 is
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expected and will be used. Else J7 and J9 are seen as separate normal outputs.
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if((PlatinenVersion < 20)
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20100802 Inserted changes into v.0.80d code. This function did not exist prior to v.082. Without
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the changes the roll servo does not work, while shutter and nick servo output do work.
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******************************************************************************************************************/    
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//      if(PlatinenVersion < 20)
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                if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++;
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        if((PlatinenVersion < 20) && (Parameter_UserParam8 < 128 ))
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/******************************************************************************************************************
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Arthur P: End of modification ot if statement. 
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******************************************************************************************************************/    
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                {
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                        CalculateServoSignals = 0;
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                }
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                else
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                {
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                        CalculateServoSignals++;
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                }
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        }
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        }
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        else
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        else
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        {
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        {
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        roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L;
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        roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L;
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        roll = ((long)EE_Parameter.ServoRollComp * roll) / 512L;
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        roll = ((long)EE_Parameter.ServoRollComp * roll) / 512L;