| 175,27 → 175,16 |
|---|
| |
| uint8_t i, axis; |
| |
| controlMixer_update(); |
| |
| // Fire the main flight attitude calculation, including integration of angles. |
| |
| calculateFlightAttitude(); |
| |
| /* |
| * TODO: update should: Set the stick variables if good signal, set them to zero if bad. |
| * Set variables also. |
| */ |
| // start part 1: 750-800 usec. |
| // start part 1a: 750-800 usec. |
| // start part1b: 700 usec |
| // start part1c: 700 usec!!!!!!!!! WAY too slow. |
| controlMixer_update(); |
| // end part1c |
| |
| throttleTerm = controlThrottle; |
| // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
| // if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10; |
| // else if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20); |
| |
| // end part1b: 700 usec. |
| /************************************************************************/ |
| /* RC-signal is bad */ |
| /* This part could be abstracted, as having yet another control input */ |
| 467,9 → 456,8 |
|---|
| DebugOut.Analog[25] = yawAngleDiff / 100L; |
| DebugOut.Analog[26] = accNoisePeak[PITCH]; |
| DebugOut.Analog[27] = accNoisePeak[ROLL]; |
| */ |
| |
| DebugOut.Analog[30] = gyroNoisePeak[PITCH]; |
| DebugOut.Analog[31] = gyroNoisePeak[ROLL]; |
| */ |
| } |
| } |