Rev 2032 | Rev 2039 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2032 | Rev 2035 | ||
|---|---|---|---|
| Line 422... | Line 422... | ||
| 422 | throttle = tmp; |
422 | throttle = tmp; |
| Line 423... | Line 423... | ||
| 423 | 423 | ||
| Line 424... | Line 424... | ||
| 424 | // if (i < 4) debugOut.analog[22 + i] = throttle; |
424 | // if (i < 4) debugOut.analog[22 + i] = throttle; |
| 425 | 425 | ||
| 426 | if ((MKFlags & MKFLAG_MOTOR_RUN) && mixerMatrix.motor[i][MIX_THROTTLE] > 0) { |
426 | if ((MKFlags & MKFLAG_MOTOR_RUN) && mixerMatrix.motor[i][MIX_THROTTLE] > 0) { |
| 427 | motor[i].SetPoint = throttle; |
427 | motor[i].throttle = throttle; |
| 428 | } else if (motorTestActive) { |
428 | } else if (motorTestActive) { |
| 429 | motor[i].SetPoint = motorTest[i]; |
429 | motor[i].throttle = motorTest[i]; |
| 430 | } else { |
430 | } else { |
| 431 | motor[i].SetPoint = 0; |
431 | motor[i].throttle = 0; |
| Line 432... | Line 432... | ||
| 432 | } |
432 | } |
| Line 440... | Line 440... | ||
| 440 | if (!(--debugDataTimer)) { |
440 | if (!(--debugDataTimer)) { |
| 441 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
441 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
| 442 | debugOut.analog[0] = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
442 | debugOut.analog[0] = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| 443 | debugOut.analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
443 | debugOut.analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
| 444 | debugOut.analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
444 | debugOut.analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
| 445 | - | ||
| 446 | debugOut.analog[16] = gyroPFactor; |
- | |
| 447 | } |
445 | } |
| 448 | } |
446 | } |