| 61,9 → 61,6 |
|---|
| #include "attitude.h" |
| #include "controlMixer.h" |
| #include "commands.h" |
| #ifdef USE_MK3MAG |
| #include "gps.h" |
| #endif |
| |
| #define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
| |
| 159,10 → 156,6 |
|---|
| |
| uint8_t i, axis; |
| |
| // Fire the main flight attitude calculation, including integration of angles. |
| // We want that to kick as early as possible, not to delay new AD sampling further. |
| calculateFlightAttitude(); |
| controlMixer_update(); |
| throttleTerm = controls[CONTROL_THROTTLE]; |
| |
| // This check removed. Is done on a per-motor basis, after output matrix multiplication. |