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Line 149... | Line 149... | ||
149 | // This will init the values (not just add to them). |
149 | // This will init the values (not just add to them). |
150 | RC_periodicTaskAndPRTY(tempPRTY); |
150 | RC_periodicTaskAndPRTY(tempPRTY); |
Line 151... | Line 151... | ||
151 | 151 | ||
152 | debugOut.analog[16] = tempPRTY[CONTROL_PITCH]; |
152 | debugOut.analog[16] = tempPRTY[CONTROL_PITCH]; |
- | 153 | debugOut.analog[17] = tempPRTY[CONTROL_ROLL]; |
|
- | 154 | debugOut.analog[18] = tempPRTY[CONTROL_THROTTLE]; |
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Line 153... | Line 155... | ||
153 | debugOut.analog[17] = tempPRTY[CONTROL_ROLL]; |
155 | debugOut.analog[19] = tempPRTY[CONTROL_YAW]; |
154 | 156 | ||
Line 155... | Line 157... | ||
155 | // Add external control to RC |
157 | // Add external control to RC |
156 | EC_periodicTaskAndPRTY(tempPRTY); |
158 | EC_periodicTaskAndPRTY(tempPRTY); |
157 | 159 | ||
158 | #ifdef USE_DIRECT_GPS |
160 | #ifdef USE_DIRECT_GPS |
Line 159... | Line -... | ||
159 | if (staticParams.bitConfig & (CFG_COMPASS_ENABLED)) |
- | |
160 | navigation_periodicTaskAndPRTY(tempPRTY); |
- | |
161 | #endif |
- | |
162 | 161 | if (staticParams.bitConfig & (CFG_COMPASS_ENABLED)) |
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163 | debugOut.analog[18] = tempPRTY[CONTROL_PITCH]; |
162 | navigation_periodicTaskAndPRTY(tempPRTY); |
Line 164... | Line 163... | ||
164 | debugOut.analog[19] = tempPRTY[CONTROL_ROLL]; |
163 | #endif |
Line 175... | Line 174... | ||
175 | 174 | ||
176 | // Add attitude control (could also have been before navi and/or compass, they are independent) |
175 | // Add attitude control (could also have been before navi and/or compass, they are independent) |
177 | AC_getPRTY(tempPRTY); |
176 | AC_getPRTY(tempPRTY); |
Line 178... | Line -... | ||
178 | } |
- | |
179 | - | ||
180 | debugOut.analog[20] = tempPRTY[CONTROL_PITCH]; |
- | |
181 | debugOut.analog[21] = tempPRTY[CONTROL_ROLL]; |
177 | } |
182 | 178 | ||
183 | // Commit results to global variable and also measure control activity. |
179 | // Commit results to global variable and also measure control activity. |
184 | controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE]; |
180 | controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE]; |
185 | updateControlAndMeasureControlActivity(CONTROL_PITCH, tempPRTY[CONTROL_PITCH]); |
181 | updateControlAndMeasureControlActivity(CONTROL_PITCH, tempPRTY[CONTROL_PITCH]); |