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| Rev 2106 | Rev 2109 | ||
|---|---|---|---|
| Line 105... | Line 105... | ||
| 105 | setAirspeedPIDs(); |
105 | setAirspeedPIDs(); |
| Line 106... | Line 106... | ||
| 106 | 106 | ||
| Line 107... | Line 107... | ||
| 107 | term[CONTROL_THROTTLE] = controls[CONTROL_THROTTLE]; |
107 | term[CONTROL_THROTTLE] = controls[CONTROL_THROTTLE]; |
| 108 | 108 | ||
| 109 | // These params are just left the same in all modes. In MANUAL and RATE the results are ignored anyway. |
109 | // These params are just left the same in all modes. In MANUAL and RATE the results are ignored anyway. |
| 110 | target[PITCH] += (controls[CONTROL_ELEVATOR] * staticParams.stickIElevator) >> 6; |
110 | target[PITCH] += (controls[CONTROL_ELEVATOR] * staticParams.stickIElevator) >> 7; |
| Line 111... | Line 111... | ||
| 111 | target[ROLL] += (controls[CONTROL_AILERONS] * staticParams.stickIAilerons) >> 6; |
111 | target[ROLL] += (controls[CONTROL_AILERONS] * staticParams.stickIAilerons) >> 7; |
| 112 | target[YAW] += (controls[CONTROL_RUDDER] * staticParams.stickIRudder) >> 6; |
112 | target[YAW] += (controls[CONTROL_RUDDER] * staticParams.stickIRudder) >> 7; |
| 113 | 113 | ||
| 114 | for (axis = PITCH; axis <= YAW; axis++) { |
114 | for (axis = PITCH; axis <= YAW; axis++) { |