Rev 2086 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2086 | Rev 2087 | ||
|---|---|---|---|
| Line 448... | Line 448... | ||
| 448 | if(abs(error) < GYRO_DEG_FACTOR_YAW) return; |
448 | if(abs(error) < GYRO_DEG_FACTOR_YAW) return; |
| Line 449... | Line 449... | ||
| 449 | 449 | ||
| 450 | int32_t correction = (error * staticParams.compassYawCorrection) >> 8; |
450 | int32_t correction = (error * staticParams.compassYawCorrection) >> 8; |
| Line 451... | Line 451... | ||
| 451 | //debugOut.analog[30] = correction; |
451 | //debugOut.analog[30] = correction; |
| 452 | 452 | ||
| Line 453... | Line 453... | ||
| 453 | debugOut.digital[0] = &= ~DEBUG_COMPASS; |
453 | debugOut.digital[0] &= ~DEBUG_COMPASS; |
| 454 | debugOut.digital[1] = &= ~DEBUG_COMPASS; |
454 | debugOut.digital[1] &= ~DEBUG_COMPASS; |
| 455 | 455 | ||
| 456 | if (correction > 0) { |
456 | if (correction > 0) { |