Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-25 01:05:27 +03:00
Code Issues Wiki Activity

Merge remote-tracking branch 'multiwii/master' into project-structure-alternative

Browse source 
Conflicts:
	src/mw.h
This commit is contained in:
Dominic Clifton 2014-04-18 19:45:30 +01:00
commit be6ce96e5d
4 changed files with 16 additions and 24 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/mw.c
View file

@ -165,7 +165,7 @@ void annexCode(void)
#endif
if ((int32_t)(currentTime - calibratedAccTime) >= 0) {
if (!f.SMALL_ANGLES_25) {
if (!f.SMALL_ANGLE) {
f.ACC_CALIBRATED = 0; // the multi uses ACC and is not calibrated or is too much inclinated
LED0_TOGGLE;
calibratedAccTime = currentTime + 500000;
@ -742,7 +742,7 @@ void loop(void)
if (dif >= +180)
dif -= 360;
dif *= -mcfg.yaw_control_direction;
if (f.SMALL_ANGLES_25)
if (f.SMALL_ANGLE)
rcCommand[YAW] -= dif * cfg.P8[PIDMAG] / 30; // 18 deg
} else
magHold = heading;