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95 | */ |
95 | */ |
Line 96... | Line 96... | ||
96 | 96 | ||
97 | /***************************************************** |
97 | /***************************************************** |
98 | * Control Servo Position |
98 | * Control Servo Position |
99 | *****************************************************/ |
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100 | - | ||
101 | /*typedef struct { |
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102 | uint8_t manualControl; |
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103 | uint8_t compensationFactor; |
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104 | uint8_t minValue; |
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105 | uint8_t maxValue; |
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106 | uint8_t flags; |
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107 | } servo_t;*/ |
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108 | 99 | *****************************************************/ |
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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. |