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Rev 2086 | Rev 2087 | ||
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Line 448... | Line 448... | ||
448 | if(abs(error) < GYRO_DEG_FACTOR_YAW) return; |
448 | if(abs(error) < GYRO_DEG_FACTOR_YAW) return; |
Line 449... | Line 449... | ||
449 | 449 | ||
450 | int32_t correction = (error * staticParams.compassYawCorrection) >> 8; |
450 | int32_t correction = (error * staticParams.compassYawCorrection) >> 8; |
Line 451... | Line 451... | ||
451 | //debugOut.analog[30] = correction; |
451 | //debugOut.analog[30] = correction; |
452 | 452 | ||
Line 453... | Line 453... | ||
453 | debugOut.digital[0] = &= ~DEBUG_COMPASS; |
453 | debugOut.digital[0] &= ~DEBUG_COMPASS; |
454 | debugOut.digital[1] = &= ~DEBUG_COMPASS; |
454 | debugOut.digital[1] &= ~DEBUG_COMPASS; |
455 | 455 | ||
456 | if (correction > 0) { |
456 | if (correction > 0) { |