| 250,16 → 250,21 |
|---|
| debugOut.analog[1] = attitude[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL / 10); // in 0.1 deg |
| debugOut.analog[2] = heading / GYRO_DEG_FACTOR_YAW; |
| |
| debugOut.analog[16] = acc[PITCH]; |
| debugOut.analog[17] = acc[ROLL]; |
| |
| debugOut.analog[3] = rate_ATT[PITCH]; |
| debugOut.analog[4] = rate_ATT[ROLL]; |
| debugOut.analog[5] = yawRate; |
| } |
| |
| /* |
| debugOut.analog[6] = term[PITCH]; |
| debugOut.analog[7] = term[ROLL]; |
| debugOut.analog[8] = yawTerm; |
| debugOut.analog[9] = throttleTerm; |
| */ |
| |
| //debugOut.analog[16] = gyroActivity; |
| |
| for (i = 0; i < MAX_MOTORS; i++) { |
| int32_t tmp; |
| uint8_t throttle; |