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1775 - 1 
#include <inttypes.h>
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#include "attitude.h"
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#include "uart0.h"
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#include "configuration.h"
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#include "dongfangMath.h"
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#include "controlMixer.h"
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// For scope debugging only!
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#include "output.h"
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// = cos^2(45 degs).
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// const int32_t FACTORSQUARED = 1L << (MATH_UNIT_FACTOR_LOG * 2);
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const int32_t MINPROJECTION = 1L << (LOG_MATH_UNIT_FACTOR * 2 - 9);
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// Takes 380 - 400 usec. Way too slow.
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// With static MINPROJECTION: 220 usec.
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void AC_getPRTY(int16_t* PRTY) {
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  int16_t throttle = PRTY[CONTROL_THROTTLE];
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  int32_t projection;
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  uint8_t effect = dynamicParams.attitudeControl; // Userparam 3
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  int16_t deltaThrottle, y;
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  int16_t rollAngleInDegrees = attitude[ROLL]/GYRO_DEG_FACTOR_PITCHROLL;
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  int16_t pitchAngleInDegrees = attitude[PITCH]/GYRO_DEG_FACTOR_PITCHROLL;
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  projection = (int32_t) cos_360(pitchAngleInDegrees) * (int32_t) cos_360(rollAngleInDegrees);
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  projection >>= 8;
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  if (projection < 0) {
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    // Case not yet considered!
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    y = 0;
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  } else {
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    if (projection < MINPROJECTION && projection >= 0) {
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      projection = MINPROJECTION;
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    } else if (projection > -MINPROJECTION && projection < 0) {
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      projection = -MINPROJECTION;
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    } else {
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    }
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    y = ((int32_t) throttle << (LOG_MATH_UNIT_FACTOR * 2 - 8)) / projection - throttle;
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  }
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  deltaThrottle = ((int32_t)y * effect) >> 6;
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  // debugOut.analog[8] = deltaThrottle;
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  PRTY[CONTROL_THROTTLE] = throttle;
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}