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  → /branches/V0.69k Code Redesign killagreg/ @ 900

  → /branches/V0.69k Code Redesign killagreg/ @ 901

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Ignore whitespace Rev 900 → Rev 901

/branches/V0.69k Code Redesign killagreg/fc.c
1407,8 → 1407,8
DiffRoll = Reading_GyroRoll - StickRoll; // get difference
if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control
else SumRoll += DiffRoll; // I-part for head holding
if(SumRoll > 16000) SumRoll = 16000;
if(SumRoll < -16000) SumRoll = -16000;
if(SumRoll > (STICK_GAIN * 16000L)) SumRoll = (STICK_GAIN * 16000L);
if(SumRoll < -(STICK_GAIN * 16000L)) SumRoll = -(STICK_GAIN * 16000L);
pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll
tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
if(pd_result > tmp_int) pd_result = tmp_int;