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Rev 1955 | Rev 1956 | ||
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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) { |
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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) { |