Rev 1969 | Rev 1980 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1969 | Rev 1975 | ||
|---|---|---|---|
| Line 182... | Line 182... | ||
| 182 | controlMixer_setNeutral(); |
182 | controlMixer_setNeutral(); |
| Line 183... | Line 183... | ||
| 183 | 183 | ||
| 184 | // Cal. attitude sensors and reset integrals. |
184 | // Cal. attitude sensors and reset integrals. |
| Line 185... | Line -... | ||
| 185 | attitude_setNeutral(); |
- | |
| 186 | - | ||
| 187 | Servo_On(); |
185 | attitude_setNeutral(); |
| 188 | 186 | ||
| Line 189... | Line 187... | ||
| 189 | // Init flight parameters |
187 | // Init flight parameters |
| Line 252... | Line 250... | ||
| 252 | // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
250 | // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
| 253 | // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
251 | // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
| 254 | SPI_TransmitByte(); |
252 | SPI_TransmitByte(); |
| 255 | } |
253 | } |
| 256 | #endif |
254 | #endif |
| - | 255 | ||
| - | 256 | calculateServoValues(); |
|
| 257 | } |
257 | } |
| 258 | } |
258 | } |
| 259 | return (1); |
259 | return (1); |
| 260 | } |
260 | } |