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Rev 2367 | Rev 2380 | ||
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Line 270... | Line 270... | ||
270 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
270 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
271 | sinus = sintab[EE_Parameter.CamOrientation]; |
271 | sinus = sintab[EE_Parameter.CamOrientation]; |
Line 272... | Line 272... | ||
272 | 272 | ||
273 | if(CalculateServoSignals == 1) |
273 | if(CalculateServoSignals == 1) |
274 | { |
- | |
275 | 274 | { |
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276 | if(Parameter_UserParam1 < 100) // testweise |
- | |
277 | { |
275 | if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) nick = 0; |
278 | nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
- | |
279 | } |
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280 | else nick = 0; |
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281 | 276 | else nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
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282 | nick -= POI_KameraNick * 7; |
277 | nick -= POI_KameraNick * 7; |
283 | nick = ((long)Parameter_ServoNickComp * nick) / 512L; |
278 | nick = ((long)Parameter_ServoNickComp * nick) / 512L; |
284 | // offset (Range from 0 to 255 * 3 = 765) |
279 | // offset (Range from 0 to 255 * 3 = 765) |
285 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |
280 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |