204,8 → 204,8 |
uint8_t axis; |
|
for (axis = PITCH; axis <= ROLL; axis++) { |
rate_PID[axis] = gyro_PID[axis] / HIRES_GYRO_INTEGRATION_FACTOR + driftComp[axis]; |
rate_ATT[axis] = gyro_ATT[axis] / HIRES_GYRO_INTEGRATION_FACTOR + driftComp[axis]; |
rate_PID[axis] = gyro_PID[axis] /* / HIRES_GYRO_INTEGRATION_FACTOR */ + driftComp[axis]; |
rate_ATT[axis] = gyro_ATT[axis] /* / HIRES_GYRO_INTEGRATION_FACTOR */ + driftComp[axis]; |
differential[axis] = gyroD[axis]; |
averageAcc[axis] += acc[axis]; |
} |
362,9 → 362,6 |
int16_t round; |
uint8_t axis; |
|
DebugOut.Analog[6] = (DRIFTCORRECTION_TIME + DRIFTCORRECTION_TIME/2) / DRIFTCORRECTION_TIME; |
DebugOut.Analog[7] = (-DRIFTCORRECTION_TIME + DRIFTCORRECTION_TIME/2) / DRIFTCORRECTION_TIME; |
|
if (!--timer) { |
timer = DRIFTCORRECTION_TIME; |
for (axis = PITCH; axis <= ROLL; axis++) { |