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Rev 2230 | Rev 2240 | ||
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Line 360... | Line 360... | ||
360 | SenderOkay = 100; |
360 | SenderOkay = 100; |
361 | if(ServoActive) |
361 | if(ServoActive) |
362 | { |
362 | { |
363 | DDRD |=0x80; // enable J7 -> Servo signal |
363 | DDRD |=0x80; // enable J7 -> Servo signal |
364 | } |
364 | } |
- | 365 | else |
|
- | 366 | { |
|
- | 367 | if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickServoValue = ((128 + 60) * 4 * 16); // neutral position = upper 1/4 |
|
365 | else NickServoValue = (128 * 4 * 16); // neutral position |
368 | else NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
- | 369 | } |
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Line 366... | Line 370... | ||
366 | 370 | ||
367 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
371 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
368 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
372 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
369 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
373 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
Line 1107... | Line 1111... | ||
1107 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1111 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
1108 | { |
1112 | { |
1109 | tmp_long /= 2; |
1113 | tmp_long /= 2; |
1110 | tmp_long2 /= 2; |
1114 | tmp_long2 /= 2; |
1111 | } |
1115 | } |
1112 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1116 | /* if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
1113 | { |
1117 | { |
1114 | tmp_long /= 3; |
1118 | tmp_long /= 3; |
1115 | tmp_long2 /= 3; |
1119 | tmp_long2 /= 3; |
1116 | } |
1120 | } |
1117 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1121 | */ if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1118 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1122 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1119 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1123 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
1120 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1124 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
1121 | } |
1125 | } |
1122 | else |
1126 | else |