/branches/dongfang_FC_rewrite/attitude.c |
---|
216,7 → 216,7 |
// We are done reading variables from the analog module. |
// Interrupt-driven sensor reading may restart. |
analogDataReady = 0; |
analog_start(); |
startAnalogConversionCycle(0); |
} |
/* |
309,7 → 309,14 |
permilleAcc /= 2; |
debugFullWeight = 0; |
} |
/* |
if ((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity. |
permilleAcc /= 2; |
debugFullWeight = 0; |
*/ |
if (controlActivity > 10000) { // reduce effect during stick commands |
permilleAcc /= 4; |
DebugOut.Digital[0] |= DEBUG_ACC0THORDER; |