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27 | #define SPI_FCCMD_VERSION 14 |
27 | #define SPI_FCCMD_VERSION 14 |
28 | #define SPI_FCCMD_SERVOS 15 |
28 | #define SPI_FCCMD_SERVOS 15 |
29 | #define SPI_FCCMD_ACCU 16 |
29 | #define SPI_FCCMD_ACCU 16 |
30 | #define SPI_FCCMD_PARAMETER2 17 |
30 | #define SPI_FCCMD_PARAMETER2 17 |
Line -... | Line 31... | ||
- | 31 | ||
- | 32 | #define CHK_POTI(b,a) { if(a < 248) b = a; else b = FC.Poti[255 - a]; } |
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- | 33 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max); } |
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31 | 34 | ||
32 | extern s32 Kalman_K; |
35 | extern s32 Kalman_K; |
33 | extern s32 Kalman_Kompass ; |
36 | extern s32 Kalman_Kompass ; |
34 | extern s32 Kalman_MaxDrift; |
37 | extern s32 Kalman_MaxDrift; |
35 | extern s32 Kalman_MaxFusion; |
38 | extern s32 Kalman_MaxFusion; |