Rev 701 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 701 | Rev 703 | ||
|---|---|---|---|
| Line 66... | Line 66... | ||
| 66 | if(!timer--) |
66 | if(!timer--) |
| 67 | { |
67 | { |
| 68 | // enable PWM on PD7 in non inverting mode |
68 | // enable PWM on PD7 in non inverting mode |
| 69 | TCCR2A = (TCCR2A & 0x3F)|(1<<COM2A1)|(0<<COM2A0); |
69 | TCCR2A = (TCCR2A & 0x3F)|(1<<COM2A1)|(0<<COM2A0); |
| Line 70... | Line 70... | ||
| 70 | 70 | ||
| 71 | ServoValue = Parameter_ServoPitchControl; |
71 | ServoValue = FCParam.ServoPitchControl; |
| 72 | // inverting movment of servo |
72 | // inverting movment of servo |
| 73 | if(ParamSet.ServoPitchCompInvert & 0x01) |
73 | if(ParamSet.ServoPitchCompInvert & 0x01) |
| 74 | { |
74 | { |
| 75 | ServoValue += ((int32_t) ParamSet.ServoPitchComp * (IntegralPitch / 128)) / 512; |
75 | ServoValue += ((int32_t) ParamSet.ServoPitchComp * (IntegralPitch / 128)) / 512; |