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| 1009 | } |
1009 | } |
| 1010 | // exponential stick sensitivity in yawring rate |
1010 | // exponential stick sensitivity in yawring rate |
| 1011 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
1011 | tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
| 1012 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
1012 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
| 1013 | SetPointYaw = tmp_int; |
1013 | SetPointYaw = tmp_int; |
| - | 1014 | // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw) |
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| - | 1015 | Reading_IntegralGyroYaw -= tmp_int; |
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| 1014 | // limit the effect |
1016 | // limit the effect |
| 1015 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
1017 | if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
| 1016 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
1018 | if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
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| 1017 | 1019 | ||