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• This comparison shows the changes necessary to convert path

  → /branches/V0.68d Code Redesign killagreg/fc.c @ 801

  → /branches/V0.68d Code Redesign killagreg/fc.c @ 802

  ↔ Reverse comparison

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Ignore whitespace Rev 801 → Rev 802

/branches/V0.68d Code Redesign killagreg/fc.c
1011,6 → 1011,8
tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx²
tmp_int += (ParamSet.Yaw_P * StickYaw) / 4;
SetPointYaw = tmp_int;
// trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw)
Reading_IntegralGyroYaw -= tmp_int;
// limit the effect
if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000;
if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000;