Rev 1068 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1068 | Rev 1076 | ||
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| Line 172... | Line 172... | ||
| 172 | if( ServoValue < ( (int) EE_Parameter.ServoNickMin * 3 ) ) |
172 | if( ServoValue < ( (int) EE_Parameter.ServoNickMin * 3 ) ) |
| 173 | ServoValue = (int) EE_Parameter.ServoNickMin * 3; |
173 | ServoValue = (int) EE_Parameter.ServoNickMin * 3; |
| 174 | else if( ServoValue > ( (int) EE_Parameter.ServoNickMax * 3 ) ) |
174 | else if( ServoValue > ( (int) EE_Parameter.ServoNickMax * 3 ) ) |
| 175 | ServoValue = (int) EE_Parameter.ServoNickMax * 3; |
175 | ServoValue = (int) EE_Parameter.ServoNickMax * 3; |
| Line -... | Line 176... | ||
| - | 176 | ||
| - | 177 | long integral; |
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| - | 178 | ||
| - | 179 | /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
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| - | 180 | * umschalten (sh. parameter.h) |
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| - | 181 | */ |
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| - | 182 | if( PARAM_X_FORMATION ) { |
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| - | 183 | integral = IntegralNick - IntegralRoll; |
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| - | 184 | } else { |
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| - | 185 | integral = IntegralNick; |
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| - | 186 | } |
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| 176 | 187 | ||
| 177 | if( EE_Parameter.ServoNickCompInvert & 0x01 ) |
188 | if( EE_Parameter.ServoNickCompInvert & 0x01 ) |
| 178 | ServoValue += ( (long) ( (long) EE_Parameter.ServoNickComp * ( IntegralNick - IntegralRoll ) ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
189 | ServoValue += ( (long) ( (long) EE_Parameter.ServoNickComp * integral ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
| 179 | else |
190 | else |
| Line 180... | Line 191... | ||
| 180 | ServoValue -= ( (long) ( (long) EE_Parameter.ServoNickComp * ( IntegralNick - IntegralRoll ) ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
191 | ServoValue -= ( (long) ( (long) EE_Parameter.ServoNickComp * integral ) >> DIV_128 ) / ( 512L >> DIV_4 ); |
| Line 181... | Line 192... | ||
| 181 | 192 | ||
| 182 | DebugOut.Analog[20] = ServoValue; |
193 | DebugOut.Analog[20] = ServoValue; |