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| Rev 1944 | Rev 1945 | ||
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| Line 854... | Line 854... | ||
| 854 | { |
854 | { |
| 855 | static int stick_nick,stick_roll; |
855 | static int stick_nick,stick_roll; |
| 856 | unsigned char stick_p; |
856 | unsigned char stick_p; |
| 857 | ParameterZuordnung(); |
857 | ParameterZuordnung(); |
| 858 | stick_p = EE_Parameter.Stick_P; |
858 | stick_p = EE_Parameter.Stick_P; |
| 859 | - | ||
| 860 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
859 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
| 861 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
860 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| 862 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
861 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
| 863 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
862 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| Line 883... | Line 882... | ||
| 883 | 882 | ||
| 884 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
883 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 885 | if(StickGier > 4) StickGier -= 4; else |
884 | if(StickGier > 4) StickGier -= 4; else |
| Line 886... | Line 885... | ||
| 886 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
885 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
| - | 886 | ||
| - | 887 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
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| - | 888 | { |
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| - | 889 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
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| Line 887... | Line 890... | ||
| 887 | 890 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
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| 888 | if(GPS_AidMode) { StickNick /= 2; StickRoll /= 2; };// in that case the GPS controls stronger |
891 | } |
| 889 | 892 | ||