Rev 2062 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2062 | Rev 2065 | ||
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| Line 170... | Line 170... | ||
| 170 | >> LOG_MATH_UNIT_FACTOR); |
170 | >> LOG_MATH_UNIT_FACTOR); |
| Line 171... | Line 171... | ||
| 171 | 171 | ||
| 172 | ACYawRate = |
172 | ACYawRate = |
| 173 | ((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
173 | ((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
| 174 | / cospitch; |
- | |
| 175 | - | ||
| 176 | ACYawRate = |
- | |
| 177 | ((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
- | |
| 178 | / cospitch; |
174 | / cospitch; |
| Line 179... | Line 175... | ||
| 179 | } |
175 | } |
| 180 | 176 | ||
| 181 | // 480 usec with axis coupling - almost no time without. |
177 | // 480 usec with axis coupling - almost no time without. |
| Line 212... | Line 208... | ||
| 212 | } |
208 | } |
| 213 | } |
209 | } |
| 214 | } |
210 | } |
| Line 215... | Line 211... | ||
| 215 | 211 | ||
| 216 | void correctIntegralsByAcc0thOrder_old(void) { |
- | |
| 217 | // TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities |
- | |
| 218 | // are less than ....., or reintroduce Kalman. |
- | |
| 219 | // Well actually the Z axis acc. check is not so silly. |
212 | void correctIntegralsByAcc0thOrder_old(void) { |
| 220 | uint8_t axis; |
213 | uint8_t axis; |
| Line 221... | Line 214... | ||
| 221 | int32_t temp; |
214 | int32_t temp; |
| 222 | 215 | ||
| Line 230... | Line 223... | ||
| 230 | } |
223 | } |
| Line 231... | Line 224... | ||
| 231 | 224 | ||
| 232 | if (accVector <= staticParams.maxAccVector) { |
225 | if (accVector <= staticParams.maxAccVector) { |
| Line 233... | Line 226... | ||
| 233 | debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
226 | debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
| 234 | 227 | ||
| Line 235... | Line 228... | ||
| 235 | uint8_t permilleAcc = staticParams.zerothOrderCorrection; |
228 | uint8_t permilleAcc = staticParams.zerothOrderCorrection / 8; |
| 236 | int32_t accDerived; |
229 | int32_t accDerived; |
| 237 | 230 | ||