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Rev 1868 | Rev 1869 | ||
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Line 249... | Line 249... | ||
249 | if (RC_Quality) { |
249 | if (RC_Quality) { |
250 | RC_Quality--; |
250 | RC_Quality--; |
251 | if (NewPpmData-- == 0) { |
251 | if (NewPpmData-- == 0) { |
252 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP |
252 | RC_PRTY[CONTROL_PITCH] = RCChannel(CH_PITCH) * staticParams.StickP |
253 | + RCDiff(CH_PITCH) * staticParams.StickD; |
253 | + RCDiff(CH_PITCH) * staticParams.StickD; |
254 | - | ||
255 | DebugOut.Analog[21] = RCChannel(CH_THROTTLE); |
- | |
256 | - | ||
257 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP |
254 | RC_PRTY[CONTROL_ROLL] = RCChannel(CH_ROLL) * staticParams.StickP |
258 | + RCDiff(CH_ROLL) * staticParams.StickD; |
255 | + RCDiff(CH_ROLL) * staticParams.StickD; |
259 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
256 | RC_PRTY[CONTROL_THROTTLE] = RCChannel(CH_THROTTLE) + RCDiff(CH_THROTTLE) |
260 | * dynamicParams.UserParams[3] + 120; |
257 | * dynamicParams.UserParams[3] + 120; |
261 | if (RC_PRTY[CONTROL_THROTTLE] < 0) |
258 | if (RC_PRTY[CONTROL_THROTTLE] < 0) |