| 28,12 → 28,7 |
|---|
| * The variables are overwritten at each attitude calculation invocation - the values |
| * are not preserved or reused. |
| */ |
| int16_t rate_ATT[3]; |
| |
| // With different (less) filtering |
| int16_t rate_PID[3]; |
| int16_t differential[3]; |
| |
| /* |
| * Gyro integrals. These are the rotation angles of the airframe compared to the |
| * horizontal plane, yaw relative to yaw at start. |
| 86,13 → 81,8 |
|---|
| *************************************************************************/ |
| void getAnalogData(void) { |
| uint8_t axis; |
| |
| analog_update(); |
| |
| for (axis = PITCH; axis <= YAW; axis++) { |
| rate_PID[axis] = gyro_PID[axis]; |
| rate_ATT[axis] = gyro_ATT[axis]; |
| differential[axis] = gyroD[axis]; |
| } |
| } |
| |
| 110,7 → 100,7 |
|---|
| */ |
| |
| for (axis = PITCH; axis <= YAW; axis++) { |
| attitude[axis] += rate_ATT[axis]; |
| attitude[axis] += gyro_ATT[axis]; |
| if (attitude[axis] > OVER180) { |
| attitude[axis] -= OVER360; |
| } else if (attitude[axis] <= -OVER180) { |