61,9 → 61,6 |
#include "attitude.h" |
#include "controlMixer.h" |
#include "commands.h" |
#ifdef USE_MK3MAG |
#include "gps.h" |
#endif |
|
#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
|
159,10 → 156,6 |
|
uint8_t i, axis; |
|
// Fire the main flight attitude calculation, including integration of angles. |
// We want that to kick as early as possible, not to delay new AD sampling further. |
calculateFlightAttitude(); |
controlMixer_update(); |
throttleTerm = controls[CONTROL_THROTTLE]; |
|
// This check removed. Is done on a per-motor basis, after output matrix multiplication. |