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| Rev 1955 | Rev 1956 | ||
|---|---|---|---|
| Line 132... | Line 132... | ||
| 132 | yawPFactor = _yawPFactor; |
132 | yawPFactor = _yawPFactor; |
| 133 | yawIFactor = _yawIFactor; |
133 | yawIFactor = _yawIFactor; |
| 134 | } |
134 | } |
| Line 135... | Line 135... | ||
| 135 | 135 | ||
| - | 136 | void setNormalFlightParameters(void) { |
|
| 136 | void setNormalFlightParameters(void) { |
137 | setFlightParameters( |
| 137 | setFlightParameters(dynamicParams.IFactor, |
138 | dynamicParams.IFactor, |
| 138 | dynamicParams.GyroP, |
139 | dynamicParams.GyroP, |
| 139 | staticParams.GlobalConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.GyroI, |
140 | staticParams.GlobalConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.GyroI, |
| 140 | dynamicParams.GyroP, |
141 | dynamicParams.GyroP, |
| 141 | dynamicParams.UserParams[6] |
142 | dynamicParams.UserParams[6] |
| 142 | ); |
143 | ); |
| Line 143... | Line 144... | ||
| 143 | } |
144 | } |
| 144 | 145 | ||
| 145 | void setStableFlightParameters(void) { |
146 | void setStableFlightParameters(void) { |