| /beta/Code Redesign killagreg/fc.c |
|---|
| 1585,10 → 1585,8 |
| tmp_long2 *= tmp_long2; |
| CosAttitude = (int16_t)c_sqrt(tmp_long + tmp_long2); // phytagoras gives effective attitude angle in deg |
| DebugOut.Analog[16] = CosAttitude; |
| LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
| CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
| DebugOut.Analog[17] = CosAttitude; |
| if(HCActive && !(MKFlags & MKFLAG_EMERGENCY_LANDING)) |
| { |
| if((ParamSet.Config2 & CFG2_HEIGHT_LIMIT) || !(ParamSet.Config0 & CFG0_HEIGHT_SWITCH)) |
| /beta/Code Redesign killagreg/main.c |
|---|
| 387,6 → 387,11 |
| ExternStickNick= 0; |
| ExternStickRoll = 0; |
| ExternStickYaw = 0; |
| if((BeepModulation == 0xFFFF) && (RC_Quality == 0)) |
| { |
| BeepTime = 15000; // 1.5 seconds |
| BeepModulation = 0x0C00; |
| } |
| } |
| if(UBat < LowVoltageWarning) |
| { |