Rev 2012 | Rev 2050 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2012 | Rev 2040 | ||
|---|---|---|---|
| Line 213... | Line 213... | ||
| 213 | nick = ServoNickOffset / 16 - nick; |
213 | nick = ServoNickOffset / 16 - nick; |
| 214 | } |
214 | } |
| 215 | if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1); |
215 | if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1); |
| 216 | else ServoNickValue = nick; |
216 | else ServoNickValue = nick; |
| 217 | // limit servo value to its parameter range definition |
217 | // limit servo value to its parameter range definition |
| 218 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
218 | if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER)) |
| 219 | { |
219 | { |
| 220 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
220 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
| 221 | } |
221 | } |
| 222 | else |
222 | else |
| 223 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
223 | if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
| 224 | { |
224 | { |
| 225 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
225 | ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
| 226 | } |
226 | } |
| 227 | if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
227 | if(PlatinenVersion < 20) CalculateServoSignals = 0; else CalculateServoSignals++; |
| 228 | } |
228 | } |
| Line 240... | Line 240... | ||
| 240 | roll = ServoRollOffset / 16 - roll; |
240 | roll = ServoRollOffset / 16 - roll; |
| 241 | } |
241 | } |
| 242 | if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1); |
242 | if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1); |
| 243 | else ServoRollValue = roll; |
243 | else ServoRollValue = roll; |
| 244 | // limit servo value to its parameter range definition |
244 | // limit servo value to its parameter range definition |
| 245 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) ) |
245 | if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER)) |
| 246 | { |
246 | { |
| 247 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
247 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
| 248 | } |
248 | } |
| 249 | else |
249 | else |
| 250 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) ) |
250 | if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER)) |
| 251 | { |
251 | { |
| 252 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
252 | ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
| 253 | } |
253 | } |
| 254 | CalculateServoSignals = 0; |
254 | CalculateServoSignals = 0; |
| 255 | } |
255 | } |