| 282,6 → 282,15 |
|---|
| uint8_t axis; |
| int32_t temp; |
| |
| // for debug LEDs, to be removed with that. |
| static uint8_t controlActivityFlash=1; |
| static uint8_t accFlash=1; |
| #define CF_MAX 10 |
| // [1..n[=off [n..10]=on |
| // 1 -->1=on, 2=on, ..., 10=on |
| // 2 -->1=off,2=on, ..., 10=on |
| // 10-->1=off,2=off,..., 10=on |
| // 11-->1=off,2=off,..., 10=off |
| uint16_t ca = controlActivity >> 6; |
| uint8_t controlActivityWeighted = ca / staticParams.zerothOrderCorrectionControlTolerance; |
| if (!controlActivityWeighted) controlActivityWeighted = 1; |
| 294,17 → 303,6 |
|---|
| debugOut.analog[14] = controlActivity; |
| debugOut.analog[15] = accVector; |
| |
| /* |
| if ((controlYaw < -64) || (controlYaw > 64)) { // reduce further if yaw stick is active |
| permilleAcc /= 2; |
| debugFullWeight = 0; |
| } |
| |
| if ((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity. |
| permilleAcc /= 2; |
| debugFullWeight = 0; |
| */ |
| |
| debugOut.analog[20] = controlActivityWeighted; |
| debugOut.analog[21] = accVectorWeighted; |
| debugOut.analog[24] = accVector; |
| 311,6 → 309,21 |
|---|
| |
| accPart /= controlActivityWeighted; |
| accPart /= accVectorWeighted; |
| |
| if (controlActivityFlash < controlActivityWeighted) { |
| debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
| } else { |
| debugOut.digital[0] |= DEBUG_ACC0THORDER; |
| } |
| if (++controlActivityFlash > CF_MAX+1) controlActivityFlash=1; |
| |
| if (accFlash < accVectorWeighted) { |
| debugOut.digital[1] &= ~DEBUG_ACC0THORDER; |
| } else { |
| debugOut.digital[1] |= DEBUG_ACC0THORDER; |
| } |
| if (++accFlash > CF_MAX+1) accFlash=1; |
| |
| /* |
| * Add to each sum: The amount by which the angle is changed just below. |
| */ |