| 436,13 → 436,13 |
|---|
| DebugOut.Analog[15] = throttleTerm; |
| |
| for (i = 0; i < MAX_MOTORS; i++) { |
| int16_t tmp; |
| int32_t tmp; |
| if (MKFlags & MKFLAG_MOTOR_RUN && Mixer.Motor[i][MIX_THROTTLE] > 0) { |
| tmp = (int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE] / 64L; |
| tmp += (int32_t)term[PITCH] * Mixer.Motor[i][MIX_PITCH] / 64L; |
| tmp += (int32_t)term[ROLL] * Mixer.Motor[i][MIX_ROLL] / 64L; |
| tmp += (int32_t)yawTerm * Mixer.Motor[i][MIX_YAW] / 64L; |
| // tmp = tmp >> 6; |
| tmp = (int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE]; |
| tmp += (int32_t)term[PITCH] * Mixer.Motor[i][MIX_PITCH]; |
| tmp += (int32_t)term[ROLL] * Mixer.Motor[i][MIX_ROLL]; |
| tmp += (int32_t)yawTerm * Mixer.Motor[i][MIX_YAW]; |
| tmp = tmp >> 6; |
| motorFilters[i] = motorFilter(tmp, motorFilters[i]); |
| // Now we scale back down to a 0..255 range. |
| tmp = motorFilters[i] / MOTOR_SCALING; |
| 476,6 → 476,9 |
|---|
| DebugOut.Analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| DebugOut.Analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
| |
| DebugOut.Analog[6] = 64 >> 4; |
| DebugOut.Analog[7] = -64 >> 4; |
| |
| /* |
| DebugOut.Analog[23] = (yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING); |
| DebugOut.Analog[24] = controlYaw; |