Subversion Repositories FlightCtrl

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Ignore whitespace Rev 1872 → Rev 1873

/branches/dongfang_FC_rewrite/flight.c
438,11 → 438,11
for (i = 0; i < MAX_MOTORS; i++) {
int16_t tmp;
if (MKFlags & MKFLAG_MOTOR_RUN && Mixer.Motor[i][MIX_THROTTLE] > 0) {
tmp = throttleTerm * Mixer.Motor[i][MIX_THROTTLE];
tmp += term[PITCH] * Mixer.Motor[i][MIX_PITCH];
tmp += term[ROLL] * Mixer.Motor[i][MIX_ROLL];
tmp += yawTerm * Mixer.Motor[i][MIX_YAW];
tmp = tmp >> 6;
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 = tmp >> 6;
motorFilters[i] = motorFilter(tmp, motorFilters[i]);
// Now we scale back down to a 0..255 range.
tmp = motorFilters[i] / MOTOR_SCALING;