| 155,7 → 155,7 |
|---|
| ************************************************************************/ |
| |
| int32_t getAngleEstimateFromAcc(uint8_t axis) { |
| int16_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 256; |
| int16_t correctionTerm = (dynamicParams.levelCorrection[axis] - 128) * 512; |
| return GYRO_ACC_FACTOR * (int32_t) filteredAcc[axis] + correctionTerm; |
| } |
| |
| 328,9 → 328,7 |
|---|
| if (controlActivity > staticParams.maxControlActivity*2) { // reduce effect during stick control activity |
| permilleAcc /= 4; |
| } |
| } else { |
| debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
| } |
| } |
| |
| /* |
| * Add to each sum: The amount by which the angle is changed just below. |
| 350,6 → 348,7 |
|---|
| debugOut.analog[10] = 0; |
| // experiment: Kill drift compensation updates when not flying smooth. |
| // correctionSum[PITCH] = correctionSum[ROLL] = 0; |
| debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
| } |
| } |
| |