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127 | return value + NEUTRAL_PULSELENGTH; |
127 | return value + NEUTRAL_PULSELENGTH; |
128 | } |
128 | } |
Line 129... | Line 129... | ||
129 | 129 | ||
130 | void calculateControlServoValues(void) { |
130 | void calculateControlServoValues(void) { |
- | 131 | int16_t value; |
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- | 132 | int16_t minLimit = staticParams.controlServoMinValue * SCALE_FACTOR; |
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131 | int16_t value; |
133 | int16_t maxLimit = staticParams.controlServoMaxValue * SCALE_FACTOR; |
132 | for (uint8_t axis=0; axis<4; axis++) { |
134 | for (uint8_t axis=0; axis<4; axis++) { |
133 | value = controlServos[axis]; |
135 | value = controlServos[axis]; |
- | 136 | value *= 2; |
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- | 137 | if (value < minLimit) value = minLimit; |
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134 | value *= 2; |
138 | else if (value > maxLimit) value = maxLimit; |
135 | servoValues[axis] = value + NEUTRAL_PULSELENGTH; |
139 | servoValues[axis] = value + NEUTRAL_PULSELENGTH; |
136 | } |
140 | } |
137 | debugOut.analog[24] = servoValues[0]; |
141 | debugOut.analog[24] = servoValues[0]; |
138 | debugOut.analog[25] = servoValues[1]; |
142 | debugOut.analog[25] = servoValues[1]; |