Rev 2139 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2139 | Rev 2141 | ||
|---|---|---|---|
| Line 163... | Line 163... | ||
| 163 | } else { |
163 | } else { |
| 164 | // update I parts here for angles mode. I parts in rate mode is something different. |
164 | // update I parts here for angles mode. I parts in rate mode is something different. |
| 165 | } |
165 | } |
| 166 | #endif |
166 | #endif |
| Line 167... | Line -... | ||
| 167 | - | ||
| 168 | debugOut.analog[9+axis] = error / (GYRO_DEG_FACTOR / 10); // in 0.1 deg |
- | |
| 169 | 167 | ||
| 170 | /************************************************************************/ |
168 | /************************************************************************/ |
| 171 | /* Calculate control feedback from angle (gyro integral) */ |
169 | /* Calculate control feedback from angle (gyro integral) */ |
| 172 | /* and angular velocity (gyro signal) */ |
170 | /* and angular velocity (gyro signal) */ |
| 173 | /************************************************************************/ |
171 | /************************************************************************/ |
| Line 241... | Line 239... | ||
| 241 | 239 | ||
| 242 | debugOut.analog[12] = term[PITCH]; |
240 | debugOut.analog[12] = term[PITCH]; |
| 243 | debugOut.analog[13] = term[ROLL]; |
241 | debugOut.analog[13] = term[ROLL]; |
| 244 | debugOut.analog[14] = term[YAW]; |
242 | debugOut.analog[14] = term[YAW]; |
| 245 | debugOut.analog[15] = term[THROTTLE]; |
- | |
| 246 | - | ||
| 247 | //DebugOut.Analog[18] = (10 * controlIntegrals[CONTROL_ELEVATOR]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
- | |
| 248 | //DebugOut.Analog[19] = (10 * controlIntegrals[CONTROL_AILERONS]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
- | |
| 249 | //debugOut.analog[22] = (10 * IPart[PITCH]) / GYRO_DEG_FACTOR; // in 0.1 deg |
- | |
| 250 | //debugOut.analog[23] = (10 * IPart[ROLL]) / GYRO_DEG_FACTOR; // in 0.1 deg |
243 | debugOut.analog[15] = term[THROTTLE]; |
| 251 | } |
244 | } |