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Line 133... Line 133...
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  if (headingError < -YAW_I_LIMIT)
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  if (headingError < -YAW_I_LIMIT)
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    headingError = -YAW_I_LIMIT;
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    headingError = -YAW_I_LIMIT;
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  else if (headingError > YAW_I_LIMIT)
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  else if (headingError > YAW_I_LIMIT)
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    headingError = YAW_I_LIMIT;
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    headingError = YAW_I_LIMIT;
Line 137... Line -...
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 - 
 
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  debugOut.analog[29] = headingError / 100;
 - 
 
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 137 
 
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  PDPart = (int32_t) (headingError * yawIFactor) / (GYRO_DEG_FACTOR_YAW << 4);
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  PDPart = (int32_t) (headingError * yawIFactor) / (GYRO_DEG_FACTOR_YAW << 4);
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// Ehhhhh here is something with desired yaw rate, not?? Ahh OK it gets added in later on.
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// Ehhhhh here is something with desired yaw rate, not?? Ahh OK it gets added in later on.
Line 142... Line 140...
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  PDPart += (int32_t) (yawRate * yawPFactor) / (GYRO_DEG_FACTOR_YAW >> 5);
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  PDPart += (int32_t) (yawRate * yawPFactor) / (GYRO_DEG_FACTOR_YAW >> 5);