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| Rev 2015 | Rev 2017 | ||
|---|---|---|---|
| Line 301... | Line 301... | ||
| 301 | } else { |
301 | } else { |
| 302 | debugOut.digital[1] &= ~DEBUG_ACC0THORDER; |
302 | debugOut.digital[1] &= ~DEBUG_ACC0THORDER; |
| 303 | } |
303 | } |
| Line 304... | Line 304... | ||
| 304 | 304 | ||
| 305 | if (accVector <= dynamicParams.maxAccVector) { |
305 | if (accVector <= dynamicParams.maxAccVector) { |
| Line 306... | Line 306... | ||
| 306 | debugOut.digital[0] |= DEBUG_ACC0THORDER; |
306 | debugOut.digital[0] &= ~ DEBUG_ACC0THORDER; |
| 307 | 307 | ||
| Line 308... | Line 308... | ||
| 308 | uint8_t permilleAcc = staticParams.zerothOrderCorrection; |
308 | uint8_t permilleAcc = staticParams.zerothOrderCorrection; |
| Line 342... | Line 342... | ||
| 342 | } else { |
342 | } else { |
| 343 | debugOut.analog[9] = 0; |
343 | debugOut.analog[9] = 0; |
| 344 | debugOut.analog[10] = 0; |
344 | debugOut.analog[10] = 0; |
| 345 | // experiment: Kill drift compensation updates when not flying smooth. |
345 | // experiment: Kill drift compensation updates when not flying smooth. |
| 346 | // correctionSum[PITCH] = correctionSum[ROLL] = 0; |
346 | // correctionSum[PITCH] = correctionSum[ROLL] = 0; |
| 347 | debugOut.digital[0] &= ~DEBUG_ACC0THORDER; |
347 | debugOut.digital[0] |= DEBUG_ACC0THORDER; |
| 348 | } |
348 | } |
| 349 | } |
349 | } |
| Line 350... | Line 350... | ||
| 350 | 350 | ||
| 351 | /************************************************************************ |
351 | /************************************************************************ |