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Rev 2230 Rev 2240
Line 360... Line 360...
360 
    SenderOkay = 100;
 360 
    SenderOkay = 100;
361 
    if(ServoActive)
 361 
    if(ServoActive)
362 
         {
 362 
         {
363 
                DDRD  |=0x80; // enable J7 -> Servo signal
 363 
                DDRD  |=0x80; // enable J7 -> Servo signal
364 
     }
 364 
     }
- 
 
 365 
         else
- 
 
 366 
         {
- 
 
 367 
      if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickServoValue = ((128 + 60) * 4 * 16); // neutral position = upper 1/4
365 
         else NickServoValue = (128 * 4 * 16); // neutral position
 368 
          else    NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4
- 
 
 369 
         }
Line 366... Line 370...
366 
 
 370 
 
367 
        if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; };
 371 
        if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; };
368 
        if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; };
 372 
        if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; };
369 
        if((AdNeutralGier < 150 * 2)  || (AdNeutralGier > 850 * 2))  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; };
 373 
        if((AdNeutralGier < 150 * 2)  || (AdNeutralGier > 850 * 2))  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; };
Line 1107... Line 1111...
1107 
                if((MaxStickNick > 64) || (MaxStickRoll > 64))
 1111 
                if((MaxStickNick > 64) || (MaxStickRoll > 64))
1108 
                {
 1112 
                {
1109 
                tmp_long  /= 2;
 1113 
                tmp_long  /= 2;
1110 
                tmp_long2 /= 2;
 1114 
                tmp_long2 /= 2;
1111 
                }
 1115 
                }
1112 
                if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
 1116 
/*              if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
1113 
                {
 1117 
                {
1114 
                tmp_long  /= 3;
 1118 
                tmp_long  /= 3;
1115 
                tmp_long2 /= 3;
 1119 
                tmp_long2 /= 3;
1116 
                }
 1120 
                }
1117 
                if(tmp_long >  (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
 1121 
*/              if(tmp_long >  (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
1118 
                if(tmp_long <  (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
 1122 
                if(tmp_long <  (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
1119 
                if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
 1123 
                if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
1120 
                if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
 1124 
                if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
1121 
     }
 1125 
     }
1122 
     else
 1126 
     else