Rev 1561 | Rev 1638 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1561 | Rev 1565 | ||
|---|---|---|---|
| Line 333... | Line 333... | ||
| 333 | } |
333 | } |
| 334 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
334 | RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| 335 | ServoRollValue /= MULTIPLYER; |
335 | ServoRollValue /= MULTIPLYER; |
| 336 | //DebugOut.Analog[20] = ServoRollValue; |
336 | //DebugOut.Analog[20] = ServoRollValue; |
| 337 | break; |
337 | break; |
| 338 | case 3: // 2 additions are probably faster than a conversion to u16 and multiplication by 2 |
- | |
| 339 | RemainingPulse += Parameter_Servo3; |
338 | case 3: |
| 340 | RemainingPulse += Parameter_Servo3; |
339 | RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| 341 | break; |
340 | break; |
| 342 | case 4: |
341 | case 4: |
| 343 | RemainingPulse += Parameter_Servo4; |
- | |
| 344 | RemainingPulse += Parameter_Servo4; |
342 | RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| 345 | break; |
343 | break; |
| 346 | case 5: |
344 | case 5: |
| 347 | RemainingPulse += Parameter_Servo5; |
- | |
| 348 | RemainingPulse += Parameter_Servo5; |
345 | RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| 349 | break; |
346 | break; |
| 350 | default: // other servo channels |
347 | default: // other servo channels |
| 351 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
348 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
| 352 | break; |
349 | break; |
| 353 | } |
350 | } |