| 648,12 → 648,8 |
|---|
| CHK_POTI(FCParam.ExternalControl,ParamSet.ExternalControl); |
| Ki = (10300/2) / ( FCParam.IFactor + 1 ); |
| |
| tmp = ParamSet.OrientationModeControl; |
| if(tmp > 50 && NCDataOkay > 200) |
| { |
| CareFree = 1; |
| if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
| } |
| CHK_POTI(tmp,ParamSet.OrientationModeControl); |
| if(tmp > 50 && NCDataOkay > 200) CareFree = 1; |
| else CareFree = 0; |
| |
| if(CareFree) {if(FCParam.AxisCoupling1 < 210) FCParam.AxisCoupling1 += 30;} |
| 993,9 → 989,6 |
|---|
| stick_roll = (stick_roll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4; |
| stick_roll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD; |
| |
| DebugOut.Analog[16] = stick_nick; |
| DebugOut.Analog[17] = stick_roll; |
| |
| if(CareFree) // according to start reference |
| { |
| int16_t nick, roll; |
| 1017,10 → 1010,7 |
|---|
| |
| StickNick = ((cos_h * stick_nick) + (sin_h * stick_roll)) / 8; |
| StickRoll = ((cos_h * stick_roll) - (sin_h * stick_nick)) / 8; |
| DebugOut.Analog[24] = angle; |
| } |
| DebugOut.Analog[18] = StickNick; |
| DebugOut.Analog[19] = StickRoll; |
| |
| StickNick -= GPSStickNick; |
| StickRoll -= GPSStickRoll; |