Rev 2158 | Rev 2164 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2158 | Rev 2160 | ||
|---|---|---|---|
| Line 248... | Line 248... | ||
| 248 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
248 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
| 249 | debugOut.analog[0] = attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL / 10); // in 0.1 deg |
249 | debugOut.analog[0] = attitude[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL / 10); // in 0.1 deg |
| 250 | debugOut.analog[1] = attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL / 10); // in 0.1 deg |
250 | debugOut.analog[1] = attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL / 10); // in 0.1 deg |
| 251 | debugOut.analog[2] = heading / GYRO_DEG_FACTOR_YAW; |
251 | debugOut.analog[2] = heading / GYRO_DEG_FACTOR_YAW; |
| Line -... | Line 252... | ||
| - | 252 | ||
| - | 253 | debugOut.analog[16] = acc[PITCH]; |
|
| - | 254 | debugOut.analog[17] = acc[ROLL]; |
|
| 252 | 255 | ||
| 253 | debugOut.analog[3] = rate_ATT[PITCH]; |
256 | debugOut.analog[3] = rate_ATT[PITCH]; |
| 254 | debugOut.analog[4] = rate_ATT[ROLL]; |
257 | debugOut.analog[4] = rate_ATT[ROLL]; |
| 255 | debugOut.analog[5] = yawRate; |
258 | debugOut.analog[5] = yawRate; |
| Line -... | Line 259... | ||
| - | 259 | } |
|
| - | 260 | ||
| - | 261 | /* |
|
| 256 | } |
262 | debugOut.analog[6] = term[PITCH]; |
| 257 | 263 | debugOut.analog[7] = term[ROLL]; |
|
| 258 | debugOut.analog[8] = yawTerm; |
264 | debugOut.analog[8] = yawTerm; |
| 259 | debugOut.analog[9] = throttleTerm; |
- | |
| Line 260... | Line 265... | ||
| 260 | 265 | debugOut.analog[9] = throttleTerm; |
|
| 261 | //debugOut.analog[16] = gyroActivity; |
266 | */ |
| 262 | 267 | ||