| /branches/dongfang_FC_rewrite/flight.c |
|---|
| 197,7 → 197,7 |
| // In HH mode, the I part is summed from P and D of gyros minus stick. |
| if (gyroIFactor) { |
| int16_t iDiff = attitude[axis] * gyroIFactor / (GYRO_DEG_FACTOR_PITCHROLL << 2); |
| if (axis == 0) debugOut.analog[28] = iDiff; |
| //if (axis == 0) debugOut.analog[28] = iDiff; |
| PDPart += iDiff; |
| IPart[axis] += iDiff - controls[axis]; // With gyroIFactor == 0, PDPart is really just a D-part. Integrate D-part (the rot. rate) and the stick pos. |
| } else { |