175,27 → 175,16 |
|
uint8_t i, axis; |
|
controlMixer_update(); |
|
// Fire the main flight attitude calculation, including integration of angles. |
|
calculateFlightAttitude(); |
|
/* |
* TODO: update should: Set the stick variables if good signal, set them to zero if bad. |
* Set variables also. |
*/ |
// start part 1: 750-800 usec. |
// start part 1a: 750-800 usec. |
// start part1b: 700 usec |
// start part1c: 700 usec!!!!!!!!! WAY too slow. |
controlMixer_update(); |
// end part1c |
|
throttleTerm = controlThrottle; |
// This check removed. Is done on a per-motor basis, after output matrix multiplication. |
// if(throttleTerm < staticParams.MinThrottle + 10) throttleTerm = staticParams.MinThrottle + 10; |
// else if(throttleTerm > staticParams.MaxThrottle - 20) throttleTerm = (staticParams.MaxThrottle - 20); |
|
// end part1b: 700 usec. |
/************************************************************************/ |
/* RC-signal is bad */ |
/* This part could be abstracted, as having yet another control input */ |
467,9 → 456,8 |
DebugOut.Analog[25] = yawAngleDiff / 100L; |
DebugOut.Analog[26] = accNoisePeak[PITCH]; |
DebugOut.Analog[27] = accNoisePeak[ROLL]; |
*/ |
|
DebugOut.Analog[30] = gyroNoisePeak[PITCH]; |
DebugOut.Analog[31] = gyroNoisePeak[ROLL]; |
*/ |
} |
} |