Rev 2135 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
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| Line 283... | Line 283... | ||
| 283 | // TODO: Examine effects of overruns here, they are quite possible. |
283 | // TODO: Examine effects of overruns here, they are quite possible. |
| 284 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
284 | int16_t diff = tempOffsetGyro[axis] - gyro_PID[axis]; |
| 285 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
285 | gyroD[axis] -= gyroDWindow[axis][gyroDWindowIdx]; |
| 286 | gyroD[axis] += diff; |
286 | gyroD[axis] += diff; |
| 287 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
287 | gyroDWindow[axis][gyroDWindowIdx] = diff; |
| - | 288 | debugOut.analog[9+axis] = gyroD[axis]; |
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| Line 288... | Line 289... | ||
| 288 | 289 | ||
| 289 | // 6) Done. |
290 | // 6) Done. |
| Line 290... | Line 291... | ||
| 290 | gyro_PID[axis] = tempOffsetGyro[axis]; |
291 | gyro_PID[axis] = tempOffsetGyro[axis]; |