Solved a bug in the head tracking pan and tilt target values storing into memory.

src/head_tracking.c

@@ -249,17 +249,33 @@ void head_tracking_process_write_cmd(unsigned short int address,unsigned short i
   }
   if(ram_in_window(DARWIN_HEAD_PAN_TARGET_L,2,address,length))
   {
-    target=head_tracking_pan.target_angle;
-    if(ram_in_range(DARWIN_HEAD_PAN_TARGET_L,address,length)) target=(target&0xFF00)|data[DARWIN_HEAD_PAN_TARGET_L-address];
-    if(ram_in_range(DARWIN_HEAD_PAN_TARGET_H,address,length)) target=(target&0x00FF)|(data[DARWIN_HEAD_PAN_TARGET_H-address]<<8);
-    head_tracking_pan.target_angle=target;
+    target=(head_tracking_pan.target_angle>>9);
+    if(ram_in_range(DARWIN_HEAD_PAN_TARGET_L,address,length))
+    { 
+      target=(target&0xFF00)|data[DARWIN_HEAD_PAN_TARGET_L-address];
+      ram_data[DARWIN_HEAD_PAN_TARGET_L]=data[DARWIN_HEAD_PAN_TARGET_L-address];
+    }
+    if(ram_in_range(DARWIN_HEAD_PAN_TARGET_H,address,length))
+    {
+      target=(target&0x00FF)|(data[DARWIN_HEAD_PAN_TARGET_H-address]<<8);
+      ram_data[DARWIN_HEAD_PAN_TARGET_H]=data[DARWIN_HEAD_PAN_TARGET_H-address];
+    }
+    head_tracking_pan.target_angle=(target<<9);
   }
   if(ram_in_window(DARWIN_HEAD_TILT_TARGET_L,2,address,length))
   {
-    target=head_tracking_tilt.target_angle;
-    if(ram_in_range(DARWIN_HEAD_TILT_TARGET_L,address,length)) target=(target&0xFF00)|data[DARWIN_HEAD_TILT_TARGET_L-address];
-    if(ram_in_range(DARWIN_HEAD_TILT_TARGET_H,address,length)) target=(target&0x00FF)|(data[DARWIN_HEAD_TILT_TARGET_H-address]<<8);
-    head_tracking_tilt.target_angle=target;
+    target=(head_tracking_tilt.target_angle>>9);
+    if(ram_in_range(DARWIN_HEAD_TILT_TARGET_L,address,length))
+    {
+      target=(target&0xFF00)|data[DARWIN_HEAD_TILT_TARGET_L-address];
+      ram_data[DARWIN_HEAD_TILT_TARGET_L]=data[DARWIN_HEAD_TILT_TARGET_L-address];
+    }
+    if(ram_in_range(DARWIN_HEAD_TILT_TARGET_H,address,length))
+    {
+      target=(target&0x00FF)|(data[DARWIN_HEAD_TILT_TARGET_H-address]<<8);
+      ram_data[DARWIN_HEAD_TILT_TARGET_H]=data[DARWIN_HEAD_TILT_TARGET_H-address];
+    }
+    head_tracking_tilt.target_angle=(target<<9);
   }
 }