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        // Analog data should have been ready but is not!!
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        // Analog data should have been ready but is not!!
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        debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;
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        debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER;
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      } else {
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      } else {
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        debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;
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        debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER;
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      }
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      }
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      J4HIGH;
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      PD2HIGH;
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      // This is probably the correct order:
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      // This is probably the correct order:
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      // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level)
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      // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level)
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      // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc.
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      // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc.
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      // Flight control uses results from both.
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      // Flight control uses results from both.
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      calculateFlightAttitude();
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      calculateFlightAttitude();
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      controlMixer_periodicTask();
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      controlMixer_periodicTask();
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      commands_handleCommands();
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      commands_handleCommands();
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      flight_control();
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      flight_control();
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      J4LOW;
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      PD2LOW;
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      // Allow Serial Data Transmit if motors must not updated or motors are not running
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      // Allow Serial Data Transmit if motors must not updated or motors are not running
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      if (!runFlightControl || !isFlying) {
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      if (!runFlightControl || !isFlying) {
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        usart0_transmitTxData();
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        usart0_transmitTxData();