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| Rev 2367 | Rev 2380 | ||
|---|---|---|---|
| Line 270... | Line 270... | ||
| 270 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
270 | cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
| 271 | sinus = sintab[EE_Parameter.CamOrientation]; |
271 | sinus = sintab[EE_Parameter.CamOrientation]; |
| Line 272... | Line 272... | ||
| 272 | 272 | ||
| 273 | if(CalculateServoSignals == 1) |
273 | if(CalculateServoSignals == 1) |
| 274 | { |
- | |
| 275 | 274 | { |
|
| 276 | if(Parameter_UserParam1 < 100) // testweise |
- | |
| 277 | { |
275 | if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) nick = 0; |
| 278 | nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
- | |
| 279 | } |
- | |
| 280 | else nick = 0; |
- | |
| 281 | 276 | else nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
|
| 282 | nick -= POI_KameraNick * 7; |
277 | nick -= POI_KameraNick * 7; |
| 283 | nick = ((long)Parameter_ServoNickComp * nick) / 512L; |
278 | nick = ((long)Parameter_ServoNickComp * nick) / 512L; |
| 284 | // offset (Range from 0 to 255 * 3 = 765) |
279 | // offset (Range from 0 to 255 * 3 = 765) |
| 285 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |
280 | if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |