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| Rev 2108 | Rev 2110 | ||
|---|---|---|---|
| Line 117... | Line 117... | ||
| 117 | if (!analogDataReady) { |
117 | if (!analogDataReady) { |
| 118 | // Analog data should have been ready but is not!! |
118 | // Analog data should have been ready but is not!! |
| 119 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
119 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
| 120 | } else { |
120 | } else { |
| 121 | debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
121 | debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
| 122 | 122 | } |
|
| 123 | J4HIGH; |
123 | J4HIGH; |
| 124 | // This is probably the correct order: |
124 | // This is probably the correct order: |
| 125 | // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level) |
125 | // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level) |
| 126 | // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc. |
126 | // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc. |
| 127 | // Flight control uses results from both. |
127 | // Flight control uses results from both. |
| Line 170... | Line 170... | ||
| 170 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
170 | debugOut.digital[1] |= DEBUG_MAINLOOP_TIMER; |
| 171 | } else { |
171 | } else { |
| 172 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
172 | debugOut.digital[1] &= ~DEBUG_MAINLOOP_TIMER; |
| 173 | } |
173 | } |
| 174 | } |
174 | } |
| 175 | } |
- | |
| 176 | return (1); |
175 | return (1); |
| 177 | } |
176 | } |