Subversion Repositories FlightCtrl

Rev

Rev 2070 | Rev 2164 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 2070 Rev 2117
Line 95... Line 95...
95 
*/
 95 
*/
Line 96... Line 96...
96 
 
 96 
 
97 
/*****************************************************
 97 
/*****************************************************
98 
 * Control Servo Position
 98 
 * Control Servo Position
99 
 *****************************************************/
 - 
 
100 
 
 - 
 
101 
/*typedef struct {
 - 
 
102 
  uint8_t manualControl;
 - 
 
103 
  uint8_t compensationFactor;
 - 
 
104 
  uint8_t minValue;
 - 
 
105 
  uint8_t maxValue;
 - 
 
106 
  uint8_t flags;
 - 
 
107 
} servo_t;*/
 - 
 
108 
 
 99 
 *****************************************************/
109 
int16_t calculateStabilizedServoAxis(uint8_t axis) {
 100 
int16_t calculateStabilizedServoAxis(uint8_t axis) {
110 
  int32_t value = attitude[axis] >> STABILIZATION_LOG_DIVIDER; // between -500000 to 500000 extreme limits. Just about
 101 
  int32_t value = attitude[axis] >> STABILIZATION_LOG_DIVIDER; // between -500000 to 500000 extreme limits. Just about
111 
  // With full blast on stabilization gain (255) we want to convert a delta of, say, 125000 to 2000.
 102 
  // With full blast on stabilization gain (255) we want to convert a delta of, say, 125000 to 2000.
112 
  // That is a divisor of about 1<<14. Same conclusion as H&I.
 103 
  // That is a divisor of about 1<<14. Same conclusion as H&I.