Subversion Repositories FlightCtrl

  controls[index] = newValue;

  controls[index] = newValue;

  tmp -= newValue;

  tmp -= newValue;

  tmp /= 2;

  tmp /= 2;

  tmp = tmp * tmp;

  tmp = tmp * tmp;

  // tmp += (newValue >= 0) ? newValue : -newValue;

  // tmp += (newValue >= 0) ? newValue : -newValue;

  if (controlActivity + (uint16_t)tmp >= controlActivity)

  if (controlActivity + (uint16_t)tmp >= controlActivity)

    controlActivity += tmp;

    controlActivity += tmp;

  else controlActivity = 0xffff;

  else controlActivity = 0xffff;

}

}

#define CADAMPING 10

#define CADAMPING 10

void dampenControlActivity(void) {

void dampenControlActivity(void) {

  updateControlAndMeasureControlActivity(CONTROL_PITCH, RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]);

  updateControlAndMeasureControlActivity(CONTROL_PITCH, RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]);

  updateControlAndMeasureControlActivity(CONTROL_ROLL, RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]);

  updateControlAndMeasureControlActivity(CONTROL_ROLL, RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]);

  updateControlAndMeasureControlActivity(CONTROL_YAW, RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]);

  updateControlAndMeasureControlActivity(CONTROL_YAW, RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]);

  dampenControlActivity();

  dampenControlActivity();

  //debugOut.analog[14] = controlActivity/10;

  debugOut.analog[17] = controlActivity/10;

  tempThrottle = HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]);

  tempThrottle = HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] + EC_PRTY[CONTROL_THROTTLE]);