Rev 804 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 804 | Rev 806 | ||
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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 | { |