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| Rev 1775 | Rev 1796 | ||
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| Line 173... | Line 173... | ||
| 173 | // High resolution motor values for smoothing of PID motor outputs |
173 | // High resolution motor values for smoothing of PID motor outputs |
| 174 | static int16_t motorFilters[MAX_MOTORS]; |
174 | static int16_t motorFilters[MAX_MOTORS]; |
| Line 175... | Line 175... | ||
| 175 | 175 | ||
| Line 176... | Line 176... | ||
| 176 | uint8_t i, axis; |
176 | uint8_t i, axis; |
| Line -... | Line 177... | ||
| - | 177 | ||
| 177 | 178 | controlMixer_update(); |
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| Line 178... | Line -... | ||
| 178 | // Fire the main flight attitude calculation, including integration of angles. |
- | |
| 179 | - | ||
| 180 | calculateFlightAttitude(); |
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| 181 | - | ||
| 182 | /* |
- | |
| 183 | * TODO: update should: Set the stick variables if good signal, set them to zero if bad. |
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| 184 | * Set variables also. |
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| 185 | */ |
- | |
| 186 | // start part 1: 750-800 usec. |
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| 187 | // start part 1a: 750-800 usec. |
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| 188 | // start part1b: 700 usec |
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| 189 | // start part1c: 700 usec!!!!!!!!! WAY too slow. |
179 | |
| 190 | controlMixer_update(); |
180 | // Fire the main flight attitude calculation, including integration of angles. |
| 191 | // end part1c |
181 | calculateFlightAttitude(); |
| 192 | 182 | ||
| Line 193... | Line -... | ||
| 193 | throttleTerm = controlThrottle; |
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| 194 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
183 | throttleTerm = controlThrottle; |
| 195 | // if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10; |
184 | // This check removed. Is done on a per-motor basis, after output matrix multiplication. |
| 196 | // else if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20); |
185 | // if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10; |
| 197 | 186 | // else if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20); |
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| 198 | // end part1b: 700 usec. |
187 | |
| Line 465... | Line 454... | ||
| 465 | DebugOut.Analog[23] = (yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING); |
454 | DebugOut.Analog[23] = (yawRate * 2 * (int32_t)yawPFactor) / (256L / CONTROL_SCALING); |
| 466 | DebugOut.Analog[24] = controlYaw; |
455 | DebugOut.Analog[24] = controlYaw; |
| 467 | DebugOut.Analog[25] = yawAngleDiff / 100L; |
456 | DebugOut.Analog[25] = yawAngleDiff / 100L; |
| 468 | DebugOut.Analog[26] = accNoisePeak[PITCH]; |
457 | DebugOut.Analog[26] = accNoisePeak[PITCH]; |
| 469 | DebugOut.Analog[27] = accNoisePeak[ROLL]; |
458 | DebugOut.Analog[27] = accNoisePeak[ROLL]; |
| 470 | */ |
- | |
| 471 | - | ||
| 472 | DebugOut.Analog[30] = gyroNoisePeak[PITCH]; |
459 | DebugOut.Analog[30] = gyroNoisePeak[PITCH]; |
| 473 | DebugOut.Analog[31] = gyroNoisePeak[ROLL]; |
460 | DebugOut.Analog[31] = gyroNoisePeak[ROLL]; |
| - | 461 | */ |
|
| 474 | } |
462 | } |
| 475 | } |
463 | } |