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Rev 1848 | Rev 1855 | ||
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Line 199... | Line 199... | ||
199 | 199 | ||
200 | if(CalculateServoSignals == 1) |
200 | if(CalculateServoSignals == 1) |
201 | { |
201 | { |
202 | nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
202 | nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
203 | nick -= POI_KameraNick * 7; |
- | |
204 | - | ||
205 | DebugOut.Analog[16] = POI_KameraNick; |
- | |
206 | 203 | nick -= POI_KameraNick * 7; |
|
207 | nick = ((long)EE_Parameter.ServoNickComp * nick) / 512L; |
204 | nick = ((long)EE_Parameter.ServoNickComp * nick) / 512L; |
208 | ServoNickOffset += ((int16_t)Parameter_ServoNickControl * (MULTIPLYER*16) - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
205 | ServoNickOffset += ((int16_t)Parameter_ServoNickControl * (MULTIPLYER*16) - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
Line 209... | Line 206... | ||
209 | ServoNickValue = ServoNickOffset / 16; // offset (Range from 0 to 255 * 3 = 765) |
206 | ServoNickValue = ServoNickOffset / 16; // offset (Range from 0 to 255 * 3 = 765) |