Subversion Repositories FlightCtrl

Rev

Rev 2058 | Rev 2085 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 2058 Rev 2059
Line 133... Line 133...
133 
  if (headingError < -YAW_I_LIMIT)
 133 
  if (headingError < -YAW_I_LIMIT)
134 
    headingError = -YAW_I_LIMIT;
 134 
    headingError = -YAW_I_LIMIT;
135 
  else if (headingError > YAW_I_LIMIT)
 135 
  else if (headingError > YAW_I_LIMIT)
136 
    headingError = YAW_I_LIMIT;
 136 
    headingError = YAW_I_LIMIT;
Line 137... Line -...
137 
 
 - 
 
138 
  debugOut.analog[29] = headingError / 100;
 - 
 
139 
 
 137 
 
140 
  PDPart = (int32_t) (headingError * yawIFactor) / (GYRO_DEG_FACTOR_YAW << 4);
 138 
  PDPart = (int32_t) (headingError * yawIFactor) / (GYRO_DEG_FACTOR_YAW << 4);
141 
// Ehhhhh here is something with desired yaw rate, not?? Ahh OK it gets added in later on.
 139 
// Ehhhhh here is something with desired yaw rate, not?? Ahh OK it gets added in later on.
Line 142... Line 140...
142 
  PDPart += (int32_t) (yawRate * yawPFactor) / (GYRO_DEG_FACTOR_YAW >> 5);
 140 
  PDPart += (int32_t) (yawRate * yawPFactor) / (GYRO_DEG_FACTOR_YAW >> 5);