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Ignore whitespace Rev 1843 → Rev 1844

/branches/dongfang_FC_rewrite/flight.c
403,7 → 403,7
IPart[axis] += PDPart[axis] - control[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos.
}
tmp_int = (int32_t)((int32_t)dynamicParams.DynamicStability * (int32_t)(throttleTerm + abs(yawTerm) / 2)) / 64;
tmp_int = (int32_t)((int32_t) dynamicParams.DynamicStability * (int32_t) (throttleTerm + abs(yawTerm) / 2)) / 64;
// TODO: From which planet comes the 16000?
CHECK_MIN_MAX(IPart[axis], -(CONTROL_SCALING * 16000L), (CONTROL_SCALING * 16000L));
438,22 → 438,21
for(i = 0; i < MAX_MOTORS; i++) {
int16_t tmp;
if (MKFlags & MKFLAG_MOTOR_RUN && Mixer.Motor[i][MIX_THROTTLE] > 0) {
tmp = ((int32_t)throttleTerm * Mixer.Motor[i][MIX_THROTTLE]) / 64L;
tmp += ((int32_t)term[PITCH] * Mixer.Motor[i][MIX_PITCH]) / 64L;
tmp += ((int32_t)term[ROLL] * Mixer.Motor[i][MIX_ROLL]) / 64L;
tmp += ((int32_t)yawTerm * Mixer.Motor[i][MIX_YAW]) / 64L;
tmp = ((int32_t) throttleTerm * Mixer.Motor[i][MIX_THROTTLE]) / 64L;
tmp += ((int32_t) term[PITCH] * Mixer.Motor[i][MIX_PITCH]) / 64L;
tmp += ((int32_t) term[ROLL] * Mixer.Motor[i][MIX_ROLL]) / 64L;
tmp += ((int32_t) yawTerm * Mixer.Motor[i][MIX_YAW]) / 64L;
motorFilters[i] = motorFilter(tmp, motorFilters[i]);
// Now we scale back down to a 0..255 range.
tmp = motorFilters[i] / CONTROL_SCALING;
tmp = motorFilters[i] / MOTOR_SCALING;
// So this was the THIRD time a throttle was limited. But should the limitation
// apply to the common throttle signal (the one used for setting the "power" of
// all motors together) or should it limit the throttle set for each motor,
// apply to the common throttle signal (the one used for setting the "power" of
// all motors together) or should it limit the throttle set for each motor,
// including mix components of pitch, roll and yaw? I think only the common
// throttle should be limited.
// --> WRONG. This caused motors to stall completely in tight maneuvers.
// Apply to individual signals instead.
// CHECK_MIN_MAX(tmp, staticParams.MinThrottle, staticParams.MaxThrottle);
CHECK_MIN_MAX(tmp, 8, 255);
motor[i].SetPoint = tmp;
}