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Rev 1481 | Rev 1543 | ||
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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 |
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- | 339 | RemainingPulse += Parameter_Servo3; |
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338 | case 3: RemainingPulse += 2 * Parameter_Servo3; |
340 | RemainingPulse += Parameter_Servo3; |
339 | break; |
341 | break; |
- | 342 | case 4: |
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- | 343 | RemainingPulse += Parameter_Servo4; |
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340 | case 4: RemainingPulse += 2 * Parameter_Servo4; |
344 | RemainingPulse += Parameter_Servo4; |
341 | break; |
345 | break; |
- | 346 | case 5: |
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- | 347 | RemainingPulse += Parameter_Servo5; |
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342 | case 5: RemainingPulse += 2 * Parameter_Servo5; |
348 | RemainingPulse += Parameter_Servo5; |
343 | break; |
349 | break; |
344 | default: // other servo channels |
350 | default: // other servo channels |
345 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
351 | RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
346 | break; |
352 | break; |
347 | } |
353 | } |