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| Rev 2011 | Rev 2012 | ||
|---|---|---|---|
| Line 210... | Line 210... | ||
| 210 | } |
210 | } |
| 211 | else |
211 | else |
| 212 | { // inverting movement of servo |
212 | { // inverting movement of servo |
| 213 | nick = ServoNickOffset / 16 - nick; |
213 | nick = ServoNickOffset / 16 - nick; |
| 214 | } |
214 | } |
| 215 | if(Parameter_UserParam1) ServoNickValue = ((ServoNickValue * Parameter_UserParam1) + nick) / (Parameter_UserParam1 + 1); |
215 | if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1); |
| 216 | else ServoNickValue = nick; |
216 | else ServoNickValue = nick; |
| 217 | // limit servo value to its parameter range definition |
217 | // limit servo value to its parameter range definition |
| 218 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
218 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
| 219 | { |
219 | { |
| 220 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
220 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
| Line 237... | Line 237... | ||
| 237 | } |
237 | } |
| 238 | else |
238 | else |
| 239 | { // inverting movement of servo |
239 | { // inverting movement of servo |
| 240 | roll = ServoRollOffset / 16 - roll; |
240 | roll = ServoRollOffset / 16 - roll; |
| 241 | } |
241 | } |
| 242 | if(Parameter_UserParam2) ServoRollValue = ((ServoRollValue * Parameter_UserParam2) + roll) / (Parameter_UserParam2 + 1); |
242 | if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1); |
| 243 | else ServoRollValue = roll; |
243 | else ServoRollValue = roll; |
| 244 | // limit servo value to its parameter range definition |
244 | // limit servo value to its parameter range definition |
| 245 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) ) |
245 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) ) |
| 246 | { |
246 | { |
| 247 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
247 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |