Rev 1908 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1908 | Rev 1953 | ||
|---|---|---|---|
| Line 214... | Line 214... | ||
| 214 | yawRate = yawGyro + driftCompYaw; |
214 | yawRate = yawGyro + driftCompYaw; |
| Line 215... | Line 215... | ||
| 215 | 215 | ||
| 216 | // We are done reading variables from the analog module. |
216 | // We are done reading variables from the analog module. |
| 217 | // Interrupt-driven sensor reading may restart. |
217 | // Interrupt-driven sensor reading may restart. |
| 218 | analogDataReady = 0; |
218 | analogDataReady = 0; |
| 219 | analog_start(); |
219 | startAnalogConversionCycle(0); |
| Line 220... | Line 220... | ||
| 220 | } |
220 | } |
| 221 | 221 | ||
| 222 | /* |
222 | /* |
| Line 307... | Line 307... | ||
| 307 | /* |
307 | /* |
| 308 | if ((controlYaw < -64) || (controlYaw > 64)) { // reduce further if yaw stick is active |
308 | if ((controlYaw < -64) || (controlYaw > 64)) { // reduce further if yaw stick is active |
| 309 | permilleAcc /= 2; |
309 | permilleAcc /= 2; |
| 310 | debugFullWeight = 0; |
310 | debugFullWeight = 0; |
| 311 | } |
311 | } |
| - | 312 | ||
| - | 313 | /* |
|
| - | 314 | ||
| - | 315 | if ((maxControl[PITCH] > 64) || (maxControl[ROLL] > 64)) { // reduce effect during stick commands. Replace by controlActivity. |
|
| - | 316 | permilleAcc /= 2; |
|
| - | 317 | debugFullWeight = 0; |
|
| 312 | */ |
318 | */ |
| - | 319 | ||
| 313 | if (controlActivity > 10000) { // reduce effect during stick commands |
320 | if (controlActivity > 10000) { // reduce effect during stick commands |
| 314 | permilleAcc /= 4; |
321 | permilleAcc /= 4; |
| 315 | DebugOut.Digital[0] |= DEBUG_ACC0THORDER; |
322 | DebugOut.Digital[0] |= DEBUG_ACC0THORDER; |
| 316 | if (controlActivity > 20000) { // reduce effect during stick commands |
323 | if (controlActivity > 20000) { // reduce effect during stick commands |
| 317 | permilleAcc /= 4; |
324 | permilleAcc /= 4; |