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| Rev 2026 | Rev 2032 | ||
|---|---|---|---|
| Line 126... | Line 126... | ||
| 126 | yawIFactor = _yawIFactor; |
126 | yawIFactor = _yawIFactor; |
| 127 | } |
127 | } |
| Line 128... | Line 128... | ||
| 128 | 128 | ||
| 129 | void setNormalFlightParameters(void) { |
129 | void setNormalFlightParameters(void) { |
| 130 | setFlightParameters( |
130 | setFlightParameters( |
| 131 | dynamicParams.IFactor, |
131 | staticParams.IFactor, |
| 132 | dynamicParams.gyroP, |
132 | dynamicParams.gyroP, |
| 133 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
133 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
| 134 | dynamicParams.gyroP, |
134 | dynamicParams.gyroP, |
| 135 | dynamicParams.yawIFactor |
135 | staticParams.yawIFactor |
| 136 | ); |
136 | ); |
| Line 137... | Line 137... | ||
| 137 | } |
137 | } |
| 138 | 138 | ||