| 314,11 → 314,12 |
|---|
| permilleAcc /= 2; |
| debugFullWeight = 0; |
| */ |
| uint8_t ca = controlActivity >> 8; |
| |
| if (controlActivity > 10000) { // reduce effect during stick control activity |
| if (ca > staticParams.maxControlActivity) { // reduce effect during stick control activity |
| permilleAcc /= 4; |
| debugOut.digital[1] |= DEBUG_ACC0THORDER; |
| if (controlActivity > 20000) { // reduce effect during stick control activity |
| if (controlActivity > staticParams.maxControlActivity*2) { // reduce effect during stick control activity |
| permilleAcc /= 4; |
| debugOut.digital[1] |= DEBUG_ACC0THORDER; |
| } |
| 340,7 → 341,6 |
|---|
| } else { |
| debugOut.analog[9] = 0; |
| debugOut.analog[10] = 0; |
| |
| // experiment: Kill drift compensation updates when not flying smooth. |
| // correctionSum[PITCH] = correctionSum[ROLL] = 0; |
| } |
| 393,7 → 393,8 |
|---|
| accVector += temp * temp; |
| temp = filteredAcc[2]/4; |
| accVector += temp * temp; |
| debugOut.analog[19] = accVector; |
| debugOut.analog[18] = accVector; |
| debugOut.analog[19] = dynamicParams.maxAccVector; |
| } |
| |
| /************************************************************************ |