Rev 1848 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1848 | Rev 1855 | ||
|---|---|---|---|
| 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) |