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55 | #define SPI_FCCMD_PARAMETER2 17 |
55 | #define SPI_FCCMD_PARAMETER2 17 |
Line 56... | Line 56... | ||
56 | 56 | ||
57 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
57 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
Line -... | Line 58... | ||
- | 58 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
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- | 59 | ||
- | 60 | // devides only the Poti-value |
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- | 61 | #define CHK_POTI_DIV(b,a,div) { if(a < 248) b = a; else b = FC.Poti[255 - a] / div; } |
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58 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
62 | #define CHK_POTI_MM_DIV(b,a,min,max,div) {CHK_POTI_DIV(b,a,div); LIMIT_MIN_MAX(b, min, max); } |
59 | 63 | ||
60 | extern s32 Kalman_K; |
64 | extern s32 Kalman_K; |
61 | extern s32 Kalman_Kompass ; |
65 | extern s32 Kalman_Kompass ; |
62 | extern s32 Kalman_MaxDrift; |
66 | extern s32 Kalman_MaxDrift; |