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| 52 | 52 | ||
| 53 | #include <stdlib.h> |
53 | #include <stdlib.h> |
| 54 | #include <avr/io.h> |
54 | #include <avr/io.h> |
| 55 | #include "eeprom.h" |
55 | #include "eeprom.h" |
| - | 56 | #include "flight.h" |
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| Line 56... | Line 57... | ||
| 56 | #include "flight.h" |
57 | #include "output.h" |
| 57 | 58 | ||
| 58 | // Only for debug. Remove. |
59 | // Only for debug. Remove. |
| Line 377... | Line 378... | ||
| 377 | //CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
378 | //CHECK_MIN_MAX(yawTerm, - (MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
| 378 | } |
379 | } |
| Line 379... | Line 380... | ||
| 379 | 380 | ||
| 380 | // FIXME: Throttle may exceed maxThrottle (there is no check no more). |
381 | // FIXME: Throttle may exceed maxThrottle (there is no check no more). |
| 381 | tmp_int = staticParams.MaxThrottle * CONTROL_SCALING; |
382 | tmp_int = staticParams.MaxThrottle * CONTROL_SCALING; |
| 382 | if (yawTerm < -(tmpInt - throttleTerm)) { |
383 | if (yawTerm < -(tmp_int - throttleTerm)) { |
| 383 | yawTerm = -(tmpInt - throttleTerm); |
384 | yawTerm = -(tmp_int - throttleTerm); |
| 384 | DebugOut.Digital[0] |= DEBUG_CLIP; |
385 | DebugOut.Digital[0] |= DEBUG_CLIP; |
| 385 | } else if (yawTerm > (tmpInt - throttleTerm)) { |
386 | } else if (yawTerm > (tmp_int - throttleTerm)) { |
| 386 | yawTerm = (tmpInt - throttleTerm); |
387 | yawTerm = (tmp_int - throttleTerm); |
| 387 | DebugOut.Digital[0] |= DEBUG_CLIP; |
388 | DebugOut.Digital[0] |= DEBUG_CLIP; |
| 388 | } |
389 | } |
| 389 | // CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
390 | // CHECK_MIN_MAX(yawTerm, -(tmp_int - throttleTerm), (tmp_int - throttleTerm)); |
| 390 | DebugOut.Digital[1] &= ~DEBUG_CLIP; |
391 | DebugOut.Digital[1] &= ~DEBUG_CLIP; |