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| Rev 1872 | Rev 1874 | ||
|---|---|---|---|
| Line 202... | Line 202... | ||
| 202 | *************************************************************************/ |
202 | *************************************************************************/ |
| 203 | void getAnalogData(void) { |
203 | void getAnalogData(void) { |
| 204 | uint8_t axis; |
204 | uint8_t axis; |
| Line 205... | Line 205... | ||
| 205 | 205 | ||
| 206 | for (axis = PITCH; axis <= ROLL; axis++) { |
206 | for (axis = PITCH; axis <= ROLL; axis++) { |
| 207 | rate_PID[axis] = gyro_PID[axis] / HIRES_GYRO_INTEGRATION_FACTOR + driftComp[axis]; |
207 | rate_PID[axis] = gyro_PID[axis] /* / HIRES_GYRO_INTEGRATION_FACTOR */ + driftComp[axis]; |
| 208 | rate_ATT[axis] = gyro_ATT[axis] / HIRES_GYRO_INTEGRATION_FACTOR + driftComp[axis]; |
208 | rate_ATT[axis] = gyro_ATT[axis] /* / HIRES_GYRO_INTEGRATION_FACTOR */ + driftComp[axis]; |
| 209 | differential[axis] = gyroD[axis]; |
209 | differential[axis] = gyroD[axis]; |
| 210 | averageAcc[axis] += acc[axis]; |
210 | averageAcc[axis] += acc[axis]; |
| Line 211... | Line 211... | ||
| 211 | } |
211 | } |
| Line 360... | Line 360... | ||
| 360 | static int16_t timer = DRIFTCORRECTION_TIME; |
360 | static int16_t timer = DRIFTCORRECTION_TIME; |
| 361 | int16_t deltaCorrection; |
361 | int16_t deltaCorrection; |
| 362 | int16_t round; |
362 | int16_t round; |
| 363 | uint8_t axis; |
363 | uint8_t axis; |
| Line 364... | Line -... | ||
| 364 | - | ||
| 365 | DebugOut.Analog[6] = (DRIFTCORRECTION_TIME + DRIFTCORRECTION_TIME/2) / DRIFTCORRECTION_TIME; |
- | |
| 366 | DebugOut.Analog[7] = (-DRIFTCORRECTION_TIME + DRIFTCORRECTION_TIME/2) / DRIFTCORRECTION_TIME; |
- | |
| 367 | 364 | ||
| 368 | if (!--timer) { |
365 | if (!--timer) { |
| 369 | timer = DRIFTCORRECTION_TIME; |
366 | timer = DRIFTCORRECTION_TIME; |
| 370 | for (axis = PITCH; axis <= ROLL; axis++) { |
367 | for (axis = PITCH; axis <= ROLL; axis++) { |
| 371 | // Take the sum of corrections applied, add it to delta |
368 | // Take the sum of corrections applied, add it to delta |