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| Line 269... | Line 269... | ||
| 269 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
269 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
| 270 | sinus = sintab[EE_Parameter.CamOrientation]; |
270 | sinus = sintab[EE_Parameter.CamOrientation]; |
| Line 271... | Line 271... | ||
| 271 | 271 | ||
| 272 | if(CalculateServoSignals == 1) |
272 | if(CalculateServoSignals == 1) |
| - | 273 | { |
|
| - | 274 | ||
| - | 275 | if(Parameter_UserParam1 < 100) // testweise |
|
| 273 | { |
276 | { |
| - | 277 | nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
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| - | 278 | } |
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| - | 279 | else nick = 0; |
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| 274 | nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
280 | |
| 275 | nick -= POI_KameraNick * 7; |
281 | nick -= POI_KameraNick * 7; |
| 276 | nick = ((long)Parameter_ServoNickComp * nick) / 512L; |
282 | nick = ((long)Parameter_ServoNickComp * nick) / 512L; |
| 277 | // offset (Range from 0 to 255 * 3 = 765) |
283 | // offset (Range from 0 to 255 * 3 = 765) |
| 278 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |
284 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |