172,10 → 172,6 |
ACYawRate = |
((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
/ cospitch; |
|
ACYawRate = |
((int32_t) rate_ATT[PITCH] * sinroll + (int32_t) yawRate * cosroll) |
/ cospitch; |
} |
|
// 480 usec with axis coupling - almost no time without. |
214,9 → 210,6 |
} |
|
void correctIntegralsByAcc0thOrder_old(void) { |
// TODO: Consider changing this to: Only correct when integrals are less than ...., or only correct when angular velocities |
// are less than ....., or reintroduce Kalman. |
// Well actually the Z axis acc. check is not so silly. |
uint8_t axis; |
int32_t temp; |
|
232,7 → 225,7 |
if (accVector <= staticParams.maxAccVector) { |
debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
|
uint8_t permilleAcc = staticParams.zerothOrderCorrection; |
uint8_t permilleAcc = staticParams.zerothOrderCorrection / 8; |
int32_t accDerived; |
|
/* |