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Rev 1821 | Rev 1867 | ||
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Line 157... | Line 157... | ||
157 | int16_t* EC_PRTY = EC_getPRTY(); |
157 | int16_t* EC_PRTY = EC_getPRTY(); |
Line 158... | Line 158... | ||
158 | 158 | ||
159 | control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
159 | control[PITCH] = RC_PRTY[CONTROL_PITCH] + EC_PRTY[CONTROL_PITCH]; |
160 | control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
160 | control[ROLL] = RC_PRTY[CONTROL_ROLL] + EC_PRTY[CONTROL_ROLL]; |
161 | // This can be a CPU time killer if the function implementations are inefficient. |
161 | // This can be a CPU time killer if the function implementations are inefficient. |
162 | controlThrottle = HC_getThrottle(AC_getThrottle(RC_PRTY[CONTROL_THROTTLE] |
162 | controlThrottle = AC_getThrottle(HC_getThrottle(RC_PRTY[CONTROL_THROTTLE] |
163 | + EC_PRTY[CONTROL_THROTTLE])); |
163 | + EC_PRTY[CONTROL_THROTTLE])); |
Line 164... | Line 164... | ||
164 | controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
164 | controlYaw = RC_PRTY[CONTROL_YAW] + EC_PRTY[CONTROL_YAW]; |
165 | 165 |