| 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++) { |