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This diff has been restricted to the following files: 'stick.c'
# # old_revision [056a532c92301bcb224e1f786c5f6720e8acf3eb] # new_revision [08a35a6680cdf8985cfb16fa6779ee6db7202a9c] # # patch "stick.c" # from [50fffafb58abb3d5935c27843ff50c4bd4ec5300] # to [c994ce958c11d747045e0cd4d6879a1fc4d7b4e5] # ============================================================ --- stick.c 50fffafb58abb3d5935c27843ff50c4bd4ec5300 +++ stick.c c994ce958c11d747045e0cd4d6879a1fc4d7b4e5 @@ -59,9 +59,9 @@ unsigned int stick_counter; unsigned int stick_counter; -void stick_update(float x, float y, float z) +void stick_update(vec3f stick) { - float tz = delta_t * z; + float tz = delta_t * stick.z; stick_yaw += tz; @@ -72,16 +72,16 @@ void stick_update(float x, float y, floa stick_yaw -= TWO_PI; #if 0 - z = stick_yaw; + stick.z = stick_yaw; #endif - x = sine(x); - y = sine(y); + stick.x = sine(stick.x); + stick.y = sine(stick.y); #if 0 - z = 1.0/fisqrt(1-x*x-y*y); + stick.z = 1.0/fisqrt(1-stick.x*stick.x-stick.y*stick.y); #endif - dcm_attitude_error(x, y, z); + dcm_attitude_error(stick); } #ifdef STICK_DEBUG_CALIBRATE @@ -152,6 +152,10 @@ void stick_input(void) { if (throttle < 0.0) throttle = 0.0; } else { + log_put_uint16(0); + log_put_uint16(0); + log_put_uint16(0); + log_put_uint16(0); x = 0.0f; y = 0.0f; z = 0.0f; @@ -164,9 +168,7 @@ void stick_input(void) { watchdog_kick(WATCHDOG_STICK); /* So the controls are back to front. Let's fix that. */ - x = -x; - y = -y; - z = -z; + vec3f stick = {-x, -y, -z}; #if 0 if ((stick_counter % 100) == 0) { @@ -177,10 +179,10 @@ void stick_input(void) { #endif #if 1 - stick_update(x, y, z); + stick_update(stick); #else if ((stick_counter % 100) == 0) - stick_update(x, y, z); + stick_update(stick); #endif /*