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| Rev 2044 | Rev 2045 | ||
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| 430 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
430 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 431 | // Debugging |
431 | // Debugging |
| 432 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
432 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 433 | if (!(--debugDataTimer)) { |
433 | if (!(--debugDataTimer)) { |
| 434 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
434 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
| 435 | debugOut.analog[0] = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
435 | debugOut.analog[0] = angle[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10); // in 0.1 deg |
| 436 | debugOut.analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
436 | debugOut.analog[1] = angle[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10); // in 0.1 deg |
| 437 | debugOut.analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
437 | debugOut.analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
| 438 | } |
438 | } |
| 439 | } |
439 | } |