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| 256 | } |
256 | } |
| 257 | else tmpl = tmpl2 = 0; |
257 | else tmpl = tmpl2 = 0; |
| Line 258... | Line 258... | ||
| 258 | 258 | ||
| 259 | // Roll |
259 | // Roll |
| 260 | Reading_GyroRoll += tmpl; |
260 | Reading_GyroRoll += tmpl; |
| 261 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109 |
261 | Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; |
| 262 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
262 | Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
| 263 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
263 | Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
| 264 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
264 | if(Reading_IntegralGyroRoll > TurnOver180Roll) |
| 265 | { |
265 | { |