Rev 1980 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1980 | Rev 1986 | ||
|---|---|---|---|
| Line 312... | Line 312... | ||
| 312 | 312 | ||
| 313 | if ((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity. |
313 | if ((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity. |
| 314 | permilleAcc /= 2; |
314 | permilleAcc /= 2; |
| 315 | debugFullWeight = 0; |
315 | debugFullWeight = 0; |
| - | 316 | */ |
|
| Line 316... | Line 317... | ||
| 316 | */ |
317 | uint8_t ca = controlActivity >> 8; |
| 317 | 318 | ||
| 318 | if (controlActivity > 10000) { // reduce effect during stick control activity |
319 | if (ca > staticParams.maxControlActivity) { // reduce effect during stick control activity |
| 319 | permilleAcc /= 4; |
320 | permilleAcc /= 4; |
| 320 | debugOut.digital[1] |= DEBUG_ACC0THORDER; |
321 | debugOut.digital[1] |= DEBUG_ACC0THORDER; |
| 321 | if (controlActivity > 20000) { // reduce effect during stick control activity |
322 | if (controlActivity > staticParams.maxControlActivity*2) { // reduce effect during stick control activity |
| 322 | permilleAcc /= 4; |
323 | permilleAcc /= 4; |
| 323 | debugOut.digital[1] |= DEBUG_ACC0THORDER; |
324 | debugOut.digital[1] |= DEBUG_ACC0THORDER; |
| Line 338... | Line 339... | ||
| 338 | correctionSum[axis] += angle[axis] - temp; |
339 | correctionSum[axis] += angle[axis] - temp; |
| 339 | } |
340 | } |
| 340 | } else { |
341 | } else { |
| 341 | debugOut.analog[9] = 0; |
342 | debugOut.analog[9] = 0; |
| 342 | debugOut.analog[10] = 0; |
343 | debugOut.analog[10] = 0; |
| 343 | - | ||
| 344 | // experiment: Kill drift compensation updates when not flying smooth. |
344 | // experiment: Kill drift compensation updates when not flying smooth. |
| 345 | // correctionSum[PITCH] = correctionSum[ROLL] = 0; |
345 | // correctionSum[PITCH] = correctionSum[ROLL] = 0; |
| 346 | } |
346 | } |
| 347 | } |
347 | } |
| Line 391... | Line 391... | ||
| 391 | accVector = temp * temp; |
391 | accVector = temp * temp; |
| 392 | temp = filteredAcc[1]/4; |
392 | temp = filteredAcc[1]/4; |
| 393 | accVector += temp * temp; |
393 | accVector += temp * temp; |
| 394 | temp = filteredAcc[2]/4; |
394 | temp = filteredAcc[2]/4; |
| 395 | accVector += temp * temp; |
395 | accVector += temp * temp; |
| 396 | debugOut.analog[19] = accVector; |
396 | debugOut.analog[18] = accVector; |
| - | 397 | debugOut.analog[19] = dynamicParams.maxAccVector; |
|
| 397 | } |
398 | } |
| Line 398... | Line 399... | ||
| 398 | 399 | ||
| 399 | /************************************************************************ |
400 | /************************************************************************ |
| 400 | * Main procedure. |
401 | * Main procedure. |