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Rev 1467 Rev 1478
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    	// throttle
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    	// throttle
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    	throttle = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + HELI_THROTTLE_DEADBAND;
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    	throttle = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + HELI_THROTTLE_DEADBAND;
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    	if (throttle < 5) throttle = 0;
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    	if (throttle < 5) throttle = 0;
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    	tmp = throttle / HELI_THROTTLE_SENSITIVITY;
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    	tmp = throttle * 10 / HELI_THROTTLE_SENSITIVITY;
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    	if (tmp > HELI_MAX_THROTTLE * 2) tmp = HELI_MAX_THROTTLE * 2;
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    	if (tmp > HELI_MAX_THROTTLE * 2) tmp = HELI_MAX_THROTTLE * 2;
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		DebugOut.Analog[7] = tmp;
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		DebugOut.Analog[7] = tmp;
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		if (MotorenEin == 0 || MikroKopterFlags & FLAG_NOTLANDUNG) {
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		if (MotorenEin == 0 || MikroKopterFlags & FLAG_NOTLANDUNG) {
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			tmp = 0;
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			tmp = 0;
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	    }
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	    }
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    	servo[4] = tmp;
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    	servo[4] = tmp;
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		// pitch
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		// pitch
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    	pitch = throttle / HELI_PITCH_SENSITIVITY + HELI_PITCH_BASE;
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    	pitch = throttle * 5 / HELI_PITCH_SENSITIVITY + HELI_PITCH_BASE;
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    	if (pitch > HELI_MAX_PITCH) pitch = HELI_MAX_PITCH;
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    	if (pitch > HELI_MAX_PITCH) pitch = HELI_MAX_PITCH;
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		servo[0] = 127 - pitch;
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		servo[0] = 127 - (pitch * SERVO1_DIR);
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		servo[1] = 127 + pitch;
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		servo[1] = 127 + (pitch * SERVO2_DIR);
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		servo[2] = 127 + pitch;
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		servo[2] = 127 + (pitch * SERVO3_DIR);
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    	nick = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
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    	nick = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
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    	roll = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
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    	roll = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
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		// nick
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		// nick
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    	nick /= HELI_NICK_GYRO_SENSITIVITY;
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    	nick /= HELI_NICK_GYRO_SENSITIVITY;
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    	nick -= PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] / HELI_NICK_SENSITIVITY;
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    	nick -= PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * 10 / HELI_NICK_SENSITIVITY;
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    	servo[0] -= nick;
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    	servo[0] -= (nick * SERVO1_DIR);
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    	servo[1] += nick;
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    	servo[1] += (nick * SERVO2_DIR);
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    	servo[2] -= nick;
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    	servo[2] -= (nick * SERVO3_DIR);
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		// roll
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		// roll
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    	roll /= HELI_ROLL_GYRO_SENSITIVITY;
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    	roll /= HELI_ROLL_GYRO_SENSITIVITY;
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    	roll -= PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] / HELI_ROLL_SENSITIVITY;
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    	roll -= PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * 10 / HELI_ROLL_SENSITIVITY;