| 172,10 → 172,6 |
|---|
| ACYawRate = |
| ((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
| / cospitch; |
| |
| ACYawRate = |
| ((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
| / cospitch; |
| } |
| |
| // 480 usec with axis coupling - almost no time without. |
| 214,9 → 210,6 |
|---|
| } |
| |
| void correctIntegralsByAcc0thOrder_old(void) { |
| // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities |
| // are less than ....., or reintroduce Kalman. |
| // Well actually the Z axis acc. check is not so silly. |
| uint8_t axis; |
| int32_t temp; |
| |
| 232,7 → 225,7 |
|---|
| if (accVector <= staticParams.maxAccVector) { |
| debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
| |
| uint8_t permilleAcc = staticParams.zerothOrderCorrection; |
| uint8_t permilleAcc = staticParams.zerothOrderCorrection / 8; |
| int32_t accDerived; |
| |
| /* |