Rev 1969 | Rev 2018 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1969 | Rev 1975 | ||
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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 | } |