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Rev 2052 Rev 2158
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// Takes 380 - 400 usec. Way too slow.
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// Takes 380 - 400 usec. Way too slow.
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// With static MINPROJECTION: 220 usec.
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// With static MINPROJECTION: 220 usec.
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void AC_getPRTY(int16_t* PRTY) {
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void AC_getPRTY(int16_t* PRTY) {
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  int16_t throttle = PRTY[CONTROL_THROTTLE];
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  int16_t throttle = PRTY[CONTROL_THROTTLE];
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  int32_t projection;
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  int32_t projection;
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  uint8_t effect = dynamicParams.attitudeControl; // Userparam 3
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  uint8_t effect = dynamicParams.attitudeControl;
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  int16_t deltaThrottle, y;
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  int16_t deltaThrottle, y;
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  int16_t rollAngleInDegrees = attitude[ROLL]/GYRO_DEG_FACTOR_PITCHROLL;
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  int16_t rollAngleInDegrees = attitude[ROLL]/GYRO_DEG_FACTOR_PITCHROLL;