Rev 1612 | Rev 1821 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1612 | Rev 1775 | ||
|---|---|---|---|
| Line 220... | Line 220... | ||
| 220 | } else if(ServoPitchValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) { |
220 | } else if(ServoPitchValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) { |
| 221 | ServoPitchValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER; |
221 | ServoPitchValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER; |
| 222 | } |
222 | } |
| 223 | remainingPulseLength += ServoPitchValue - (256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position |
223 | remainingPulseLength += ServoPitchValue - (256 / 2) * MULTIPLIER; // shift ServoPitchValue to center position |
| 224 | ServoPitchValue /= MULTIPLIER; |
224 | ServoPitchValue /= MULTIPLIER; |
| 225 | // DebugOut.Analog[20] = ServoPitchValue; |
- | |
| 226 | break; |
225 | break; |
| Line 227... | Line 226... | ||
| 227 | 226 | ||
| 228 | case 2: // Roll Compensation Servo |
227 | case 2: // Roll Compensation Servo |
| 229 | ServoRollOffset = (ServoRollOffset * 3 + (int16_t)80 * MULTIPLIER) / 4; // lowpass offset |
228 | ServoRollOffset = (ServoRollOffset * 3 + (int16_t)80 * MULTIPLIER) / 4; // lowpass offset |
| Line 242... | Line 241... | ||
| 242 | } else if(ServoRollValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) { |
241 | } else if(ServoRollValue > ((int16_t)staticParams.ServoPitchMax * MULTIPLIER)) { |
| 243 | ServoRollValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER; |
242 | ServoRollValue = (int16_t)staticParams.ServoPitchMax * MULTIPLIER; |
| 244 | } |
243 | } |
| 245 | remainingPulseLength += ServoRollValue - (256 / 2) * MULTIPLIER; // shift ServoRollValue to center position |
244 | remainingPulseLength += ServoRollValue - (256 / 2) * MULTIPLIER; // shift ServoRollValue to center position |
| 246 | ServoRollValue /= MULTIPLIER; |
245 | ServoRollValue /= MULTIPLIER; |
| 247 | //DebugOut.Analog[20] = ServoRollValue; |
- | |
| 248 | break; |
246 | break; |
| Line 249... | Line 247... | ||
| 249 | 247 | ||
| 250 | default: // other servo channels |
248 | default: // other servo channels |
| 251 | remainingPulseLength += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
249 | remainingPulseLength += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |