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430 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
430 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
431 | // Debugging |
431 | // Debugging |
432 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
432 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
433 | if (!(--debugDataTimer)) { |
433 | if (!(--debugDataTimer)) { |
434 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
434 | debugDataTimer = 24; // update debug outputs at 488 / 24 = 20.3 Hz. |
435 | debugOut.analog[0] = (10 * angle[PITCH]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
435 | debugOut.analog[0] = angle[PITCH] / (GYRO_DEG_FACTOR_PITCHROLL/10); // in 0.1 deg |
436 | debugOut.analog[1] = (10 * angle[ROLL]) / GYRO_DEG_FACTOR_PITCHROLL; // in 0.1 deg |
436 | debugOut.analog[1] = angle[ROLL] / (GYRO_DEG_FACTOR_PITCHROLL/10); // in 0.1 deg |
437 | debugOut.analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
437 | debugOut.analog[2] = yawGyroHeading / GYRO_DEG_FACTOR_YAW; |
438 | } |
438 | } |
439 | } |
439 | } |