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#include <stdlib.h>
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#include <avr/io.h>
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#include "eeprom.h"
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#include "flight.h"
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#include "output.h"
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// Necessary for external control and motor test
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#include "uart0.h"
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#include "timer2.h"
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#include "analog.h"
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#include "attitude.h"
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#include "controlMixer.h"
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#include "configuration.h"
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#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
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/*
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 * target-directions integrals.
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 */
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int32_t target[3];
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/*
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 * Error integrals.
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 */
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int32_t error[3];
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uint8_t reverse[3];
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int32_t maxError[3];
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int32_t IPart[3] = { 0, 0, 0 };
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PID_t airspeedPID[3];
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int16_t controlServos[NUM_CONTROL_SERVOS];
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/************************************************************************/
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/*  Neutral Readings                                                    */
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/************************************************************************/
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#define CONTROL_CONFIG_SCALE 10
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void flight_setGround(void) {
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        IPart[PITCH] = IPart[ROLL] = IPart[YAW] = 0;
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        target[PITCH] = attitude[PITCH];
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        target[ROLL] = attitude[ROLL];
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        target[YAW] = attitude[YAW];
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}
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void flight_updateFlightParametersToFlightMode(void) {
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        debugOut.analog[16] = currentFlightMode;
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        reverse[PITCH] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_ELEVATOR;
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        reverse[ROLL] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_AILERONS;
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        reverse[YAW] = staticParams.servosReverse & CONTROL_SERVO_REVERSE_RUDDER;
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        // At a switch to angles, we want to kill errors first.
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        // This should be triggered only once per mode change!
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        if (currentFlightMode == FLIGHT_MODE_ANGLES) {
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                target[PITCH] = attitude[PITCH];
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                target[ROLL] = attitude[ROLL];
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                target[YAW] = attitude[YAW];
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        }
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        for (uint8_t axis=0; axis<3; axis++) {
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                maxError[axis] = (int32_t)staticParams.gyroPID[axis].iMax * GYRO_DEG_FACTOR;
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        }
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}
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// Normal at airspeed = 10.
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uint8_t calcAirspeedPID(uint8_t pid) {
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        if (!(staticParams.bitConfig & CFG_USE_AIRSPEED_PID)) {
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                return pid;
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        }
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        uint16_t result = (pid * 10) / airspeedVelocity;
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        if (result > 240 || airspeedVelocity == 0) {
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                result = 240;
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        }
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        return result;
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}
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void setAirspeedPIDs(void) {
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        for (uint8_t axis = 0; axis<3; axis++) {
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                airspeedPID[axis].P = calcAirspeedPID(dynamicParams.gyroPID[axis].P);
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                airspeedPID[axis].I = calcAirspeedPID(dynamicParams.gyroPID[axis].I); // Should this be???
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                airspeedPID[axis].D = dynamicParams.gyroPID[axis].D;
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        }
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}
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#define LOG_STICK_SCALE 8
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#define LOG_P_SCALE 6
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#define LOG_I_SCALE 10
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#define LOG_D_SCALE 6
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/************************************************************************/
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/*  Main Flight Control                                                 */
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/************************************************************************/
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void flight_control(void) {
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        // Mixer Fractions that are combined for Motor Control
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        int16_t term[4];
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        // PID controller variables
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        int16_t PDPart[3];
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        static int8_t debugDataTimer = 1;
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        // High resolution motor values for smoothing of PID motor outputs
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        // static int16_t outputFilters[MAX_OUTPUTS];
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        uint8_t axis;
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        setAirspeedPIDs();
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        term[CONTROL_THROTTLE] = controls[CONTROL_THROTTLE];
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        // These params are just left the same in all modes. In MANUAL and RATE the results are ignored anyway.
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        int32_t tmp;
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        tmp = ((int32_t)controls[CONTROL_ELEVATOR] * staticParams.stickIElevator) >> LOG_STICK_SCALE;
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        if (reverse[PITCH]) target[PITCH] += tmp; else target[PITCH] -= tmp;
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        tmp = ((int32_t)controls[CONTROL_AILERONS] * staticParams.stickIAilerons) >> LOG_STICK_SCALE;
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        if (reverse[ROLL]) target[ROLL] += tmp; else target[ROLL] -= tmp;
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        tmp = ((int32_t)controls[CONTROL_RUDDER] * staticParams.stickIRudder) >> LOG_STICK_SCALE;
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        if (reverse[YAW]) target[YAW] += tmp; else target[YAW] -= tmp;
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        for (axis = PITCH; axis <= YAW; axis++) {
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                if (target[axis] > OVER180) {
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                        target[axis] -= OVER360;
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                } else if (target[axis] <= -OVER180) {
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                        target[axis] += OVER360;
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                }
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                //if (reverse[axis])
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                error[axis] = attitude[axis] - target[axis];
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                // else
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                // error[axis] = attitude[axis] - target[axis];
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                if (error[axis] > maxError[axis]) {
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                  error[axis] = maxError[axis];
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                } else if (error[axis] < -maxError[axis]) {
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                  error[axis] =- maxError[axis];
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                } else {
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                        // update I parts here for angles mode. Ĩ parts in rate mode is something different.
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                }
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                /************************************************************************/
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                /* Calculate control feedback from angle (gyro integral)                */
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                /* and angular velocity (gyro signal)                                   */
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                /************************************************************************/
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                if (currentFlightMode == FLIGHT_MODE_ANGLES || currentFlightMode == FLIGHT_MODE_RATE) {
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                        PDPart[axis] = +(((int32_t) gyro_PID[axis] * (int32_t) airspeedPID[axis].P) >> LOG_P_SCALE)
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                                + (((int16_t)gyroD[axis] * (int16_t) airspeedPID[axis].D) >> LOG_D_SCALE);
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                        //if (reverse[axis])
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                        //      PDPart[axis] = -PDPart[axis];
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                } else {
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                        PDPart[axis] = 0;
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                }
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                if (currentFlightMode == FLIGHT_MODE_ANGLES) {
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                        int16_t anglePart = (int32_t)(error[axis] * (int32_t) airspeedPID[axis].I) >> LOG_I_SCALE;
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                //      if (reverse[axis])
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                        PDPart[axis] += anglePart;
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                //      else
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                //              PDPart[axis] -= anglePart;
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                }
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                // Add I parts here... these are integrated errors.
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                if (reverse[axis])
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                  term[axis] = controls[axis] - PDPart[axis]; // + IPart[axis];
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                else
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                  term[axis] = controls[axis] + PDPart[axis]; // + IPart[axis];
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        }
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        debugOut.analog[12] = term[PITCH];
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        debugOut.analog[13] = term[ROLL];
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        debugOut.analog[14] = term[YAW];
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        debugOut.analog[15] = term[THROTTLE];
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        for (uint8_t i = 0; i < NUM_CONTROL_SERVOS; i++) {
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                int16_t tmp;
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                if (servoTestActive) {
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                        controlServos[i] = ((int16_t) servoTest[i] - 128) * 8;
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                } else {
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                        // Follow the normal order of servos: Ailerons, elevator, throttle, rudder.
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                        switch (i) {
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                        case 0:
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                                tmp = term[ROLL];
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                                break;
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                        case 1:
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                                tmp = term[PITCH];
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                                break;
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                        case 2:
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                                tmp = term[THROTTLE];
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                                break;
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                        case 3:
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                                tmp = term[YAW];
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                                break;
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                        default:
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                                tmp = 0;
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                        }
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                        // These are all signed and in the same units as the RC stuff in rc.c.
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                        controlServos[i] = tmp;
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                }
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        }
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        calculateControlServoValues();
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        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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        // Debugging
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        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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        if (!(--debugDataTimer)) {
212
                debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz.
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                debugOut.analog[0] = gyro_PID[PITCH]; // in 0.1 deg
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                debugOut.analog[1] = gyro_PID[ROLL]; // in 0.1 deg
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                debugOut.analog[2] = gyro_PID[YAW];
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                debugOut.analog[3] = attitude[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
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                debugOut.analog[4] = attitude[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
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                debugOut.analog[5] = attitude[YAW] / (GYRO_DEG_FACTOR / 10);
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                debugOut.analog[6] = target[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
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                debugOut.analog[7] = target[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
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                debugOut.analog[8] = target[YAW] / (GYRO_DEG_FACTOR / 10);
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225
                debugOut.analog[9] = error[PITCH] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
226
                debugOut.analog[10] = error[ROLL] / (GYRO_DEG_FACTOR / 10); // in 0.1 deg
227
                debugOut.analog[11] = error[YAW] / (GYRO_DEG_FACTOR / 10);
228
 
229
                debugOut.analog[12] = term[PITCH];
230
                debugOut.analog[13] = term[ROLL];
231
                debugOut.analog[14] = term[YAW];
232
 
233
                //DebugOut.Analog[18] = (10 * controlIntegrals[CONTROL_ELEVATOR]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg
234
                //DebugOut.Analog[19] = (10 * controlIntegrals[CONTROL_AILERONS]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg
235
                //debugOut.analog[22] = (10 * IPart[PITCH]) / GYRO_DEG_FACTOR; // in 0.1 deg
236
                //debugOut.analog[23] = (10 * IPart[ROLL]) / GYRO_DEG_FACTOR; // in 0.1 deg
237
        }
1910 - 238
}