Rev 2033 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2033 | Rev 2035 | ||
|---|---|---|---|
| Line 378... | Line 378... | ||
| 378 | // Add the delta to the compensation. So positive delta means, gyro should have higher value. |
378 | // Add the delta to the compensation. So positive delta means, gyro should have higher value. |
| 379 | driftComp[axis] += deltaCorrection / staticParams.driftCompDivider; |
379 | driftComp[axis] += deltaCorrection / staticParams.driftCompDivider; |
| 380 | CHECK_MIN_MAX(driftComp[axis], -staticParams.driftCompLimit, staticParams.driftCompLimit); |
380 | CHECK_MIN_MAX(driftComp[axis], -staticParams.driftCompLimit, staticParams.driftCompLimit); |
| 381 | // DebugOut.Analog[11 + axis] = correctionSum[axis]; |
381 | // DebugOut.Analog[11 + axis] = correctionSum[axis]; |
| 382 | // DebugOut.Analog[16 + axis] = correctionSum[axis]; |
382 | // DebugOut.Analog[16 + axis] = correctionSum[axis]; |
| 383 | debugOut.analog[28 + axis] = driftComp[axis]; |
383 | // debugOut.analog[28 + axis] = driftComp[axis]; |
| Line 384... | Line 384... | ||
| 384 | 384 | ||
| 385 | correctionSum[axis] = 0; |
385 | correctionSum[axis] = 0; |
| 386 | } |
386 | } |
| 387 | } |
387 | } |