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| Rev 1922 | Rev 1924 | ||
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| Line 159... | Line 159... | ||
| 159 | 159 | ||
| 160 | void integrate(void) { |
160 | void integrate(void) { |
| 161 | // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
161 | // First, perform axis coupling. If disabled xxxRate is just copied to ACxxxRate. |
| Line -... | Line 162... | ||
| - | 162 | uint8_t axis; |
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| - | 163 | ||
| - | 164 | error[PITCH] += control[CONTROL_ELEVATOR]; |
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| - | 165 | error[ROLL] += control[CONTROL_AILERONS]; |
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| 162 | uint8_t axis; |
166 | error[YAW] += control[CONTROL_RUDDER]; |
| 163 | 167 | ||
| 164 | if (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE) { |
168 | if (staticParams.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE) { |
| 165 | error[PITCH] += (staticParams.ControlSigns & 1 ? rate_ATT[PITCH] : -rate_ATT[PITCH]); |
169 | error[PITCH] += (staticParams.ControlSigns & 1 ? rate_ATT[PITCH] : -rate_ATT[PITCH]); |
| 166 | error[ROLL] += (staticParams.ControlSigns & 2 ? rate_ATT[ROLL] : -rate_ATT[ROLL]); |
170 | error[ROLL] += (staticParams.ControlSigns & 2 ? rate_ATT[ROLL] : -rate_ATT[ROLL]); |