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Line 198... | Line 198... | ||
198 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
198 | debugOut.digital[0] |= DEBUG_MAINLOOP_TIMER; |
199 | } else { |
199 | } else { |
200 | debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
200 | debugOut.digital[0] &= ~DEBUG_MAINLOOP_TIMER; |
Line 201... | Line 201... | ||
201 | 201 | ||
- | 202 | J4HIGH; |
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- | 203 | // This is probably the correct order: |
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- | 204 | // The attitude computation should not depend on anything from control (except maybe the estimation of control activity level) |
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- | 205 | // The control may depend on attitude - for example, attitude control uses pitch and roll angles, compass control uses yaw angle etc. |
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202 | J4HIGH; |
206 | // Flight control uses results from both. |
203 | calculateFlightAttitude(); |
207 | calculateFlightAttitude(); |
204 | controlMixer_periodicTask(); |
208 | controlMixer_periodicTask(); |
205 | flight_control(); |
209 | flight_control(); |