| 50,6 → 50,9 |
|---|
| EC_setNeutral(); |
| HC_setGround(); |
| FC_setNeutral(); // FC is FailsafeControl, not FlightCtrl. |
| |
| // This is to set the home pos in navi. |
| // MKFlags |= MKFLAG_CALIBRATE; |
| } |
| |
| /* |
| 146,20 → 149,27 |
|---|
| // This will init the values (not just add to them). |
| RC_periodicTaskAndPRTY(tempPRTY); |
| |
| debugOut.analog[16] = tempPRTY[CONTROL_PITCH]; |
| debugOut.analog[17] = tempPRTY[CONTROL_ROLL]; |
| |
| // Add external control to RC |
| EC_periodicTaskAndPRTY(tempPRTY); |
| |
| #ifdef USE_DIRECT_GPS |
| // Add navigations control to RC and external control. |
| navigation_periodicTaskAndPRTY(tempPRTY); |
| if (staticParams.bitConfig & (CFG_COMPASS_ENABLED)) |
| navigation_periodicTaskAndPRTY(tempPRTY); |
| #endif |
| |
| debugOut.analog[18] = tempPRTY[CONTROL_PITCH]; |
| debugOut.analog[19] = tempPRTY[CONTROL_ROLL]; |
| |
| // Add compass control (could also have been before navi, they are independent) |
| CC_periodicTaskAndPRTY(tempPRTY); |
| |
| FC_periodicTaskAndPRTY(tempPRTY); |
| |
| if (!MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
| // This is temporary. There might be some emergency height control also. |
| if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) { |
| // Add height control (could also have been before navi and/or compass, they are independent) |
| HC_periodicTaskAndPRTY(tempPRTY); |
| |
| 167,6 → 177,9 |
|---|
| AC_getPRTY(tempPRTY); |
| } |
| |
| debugOut.analog[20] = tempPRTY[CONTROL_PITCH]; |
| debugOut.analog[21] = tempPRTY[CONTROL_ROLL]; |
| |
| // Commit results to global variable and also measure control activity. |
| controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE]; |
| updateControlAndMeasureControlActivity(CONTROL_PITCH, tempPRTY[CONTROL_PITCH]); |