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215 | /* |
215 | /* |
216 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
216 | * Apply "dynamic stability" - that is: Limit pitch and roll terms to a growing function of throttle and yaw(!). |
217 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
217 | * The higher the dynamic stability parameter, the wider the bounds. 64 seems to be a kind of unity |
- | 218 | * (max. pitch or roll term is the throttle value). |
|
218 | * (max. pitch or roll term is the throttle value). |
219 | * OOPS: Is not applied at all. |
219 | * TODO: Why a growing function of yaw? |
220 | * TODO: Why a growing function of yaw? |
220 | */ |
221 | */ |
221 | if (term[axis] < -tmp_int) { |
222 | if (term[axis] < -tmp_int) { |
222 | debugOut.digital[1] |= DEBUG_CLIP; |
223 | debugOut.digital[1] |= DEBUG_CLIP; |