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  → /branches/dongfang_FC_rewrite/main.c @ 2048

  → /branches/dongfang_FC_rewrite/main.c @ 2049

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Ignore whitespace Rev 2048 → Rev 2049

/branches/dongfang_FC_rewrite/main.c
200,6 → 200,10
debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;
J4HIGH;
// This is probably the correct order:
// The attitude computation should not depend on anything from control (except maybe the estimation of control activity level)
// The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc.
// Flight control uses results from both.
calculateFlightAttitude();
controlMixer_periodicTask();
flight_control();