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• This comparison shows the changes necessary to convert path

  → /branches/dongfang_FC_rewrite/attitude.c @ 2085

  → /branches/dongfang_FC_rewrite/attitude.c @ 2086

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Ignore whitespace Rev 2085 → Rev 2086

/branches/dongfang_FC_rewrite/attitude.c
401,8 → 401,6
heading = (int32_t) magneticHeading * GYRO_DEG_FACTOR_YAW;
//targetHeading = heading;
headingError = 0;
debugOut.digital[0] ^= DEBUG_COMPASS;
}
void correctHeadingToMagnetic(void) {
452,6 → 450,15
int32_t correction = (error * staticParams.compassYawCorrection) >> 8;
//debugOut.analog[30] = correction;
debugOut.digital[0] = &= ~DEBUG_COMPASS;
debugOut.digital[1] = &= ~DEBUG_COMPASS;
if (correction > 0) {
debugOut.digital[0] ^= DEBUG_COMPASS;
} else if (correction < 0) {
debugOut.digital[1] ^= DEBUG_COMPASS;
}
// The correction is added both to current heading (the direction in which the copter thinks it is pointing)
// and to the heading error (the angle of yaw that the copter is off the set heading).
heading += correction;