Subversion Repositories FlightCtrl

  // This will init the values (not just add to them).

  // This will init the values (not just add to them).

  RC_periodicTaskAndPRTY(tempPRTY);

  RC_periodicTaskAndPRTY(tempPRTY);

  debugOut.analog[16] = tempPRTY[CONTROL_PITCH];

  debugOut.analog[16] = tempPRTY[CONTROL_PITCH];

  debugOut.analog[17] = tempPRTY[CONTROL_ROLL];

  debugOut.analog[19] = tempPRTY[CONTROL_YAW];

  // Add external control to RC

  // Add external control to RC

  EC_periodicTaskAndPRTY(tempPRTY);

  EC_periodicTaskAndPRTY(tempPRTY);

#ifdef USE_DIRECT_GPS

#ifdef USE_DIRECT_GPS

  if (staticParams.bitConfig & (CFG_COMPASS_ENABLED))

  debugOut.analog[18] = tempPRTY[CONTROL_PITCH];

    navigation_periodicTaskAndPRTY(tempPRTY);

  debugOut.analog[19] = tempPRTY[CONTROL_ROLL];

#endif

    // Add attitude control (could also have been before navi and/or compass, they are independent)

    // Add attitude control (could also have been before navi and/or compass, they are independent)

    AC_getPRTY(tempPRTY);

    AC_getPRTY(tempPRTY);

  debugOut.analog[21] = tempPRTY[CONTROL_ROLL];

  }

  // Commit results to global variable and also measure control activity.

  // Commit results to global variable and also measure control activity.

  controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE];

  controls[CONTROL_THROTTLE] = tempPRTY[CONTROL_THROTTLE];

  updateControlAndMeasureControlActivity(CONTROL_PITCH, tempPRTY[CONTROL_PITCH]);

  updateControlAndMeasureControlActivity(CONTROL_PITCH, tempPRTY[CONTROL_PITCH]);