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Rev 2026 | Rev 2032 | ||
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Line 126... | Line 126... | ||
126 | yawIFactor = _yawIFactor; |
126 | yawIFactor = _yawIFactor; |
127 | } |
127 | } |
Line 128... | Line 128... | ||
128 | 128 | ||
129 | void setNormalFlightParameters(void) { |
129 | void setNormalFlightParameters(void) { |
130 | setFlightParameters( |
130 | setFlightParameters( |
131 | dynamicParams.IFactor, |
131 | staticParams.IFactor, |
132 | dynamicParams.gyroP, |
132 | dynamicParams.gyroP, |
133 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
133 | staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
134 | dynamicParams.gyroP, |
134 | dynamicParams.gyroP, |
135 | dynamicParams.yawIFactor |
135 | staticParams.yawIFactor |
136 | ); |
136 | ); |
Line 137... | Line 137... | ||
137 | } |
137 | } |
138 | 138 |