Rev 1849 | Rev 1867 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1849 | Rev 1864 | ||
|---|---|---|---|
| Line 179... | Line 179... | ||
| 179 | controlMixer_update(); |
179 | controlMixer_update(); |
| Line 180... | Line 180... | ||
| 180 | 180 | ||
| 181 | // Fire the main flight attitude calculation, including integration of angles. |
181 | // Fire the main flight attitude calculation, including integration of angles. |
| Line -... | Line 182... | ||
| - | 182 | calculateFlightAttitude(); |
|
| 182 | calculateFlightAttitude(); |
183 | |
| 183 | 184 | J5HIGH; |
|
| 184 | throttleTerm = controlThrottle; |
185 | throttleTerm = controlThrottle; |
| 185 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
186 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
| Line 484... | Line 485... | ||
| 484 | DebugOut.Analog[27] = accNoisePeak[ROLL]; |
485 | DebugOut.Analog[27] = accNoisePeak[ROLL]; |
| 485 | DebugOut.Analog[30] = gyroNoisePeak[PITCH]; |
486 | DebugOut.Analog[30] = gyroNoisePeak[PITCH]; |
| 486 | DebugOut.Analog[31] = gyroNoisePeak[ROLL]; |
487 | DebugOut.Analog[31] = gyroNoisePeak[ROLL]; |
| 487 | */ |
488 | */ |
| 488 | } |
489 | } |
| - | 490 | J5LOW; |
|
| 489 | } |
491 | } |