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Add missing file and tidy up somewhat.

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This commit is contained in:
Gavan Fantom
2014-11-23 20:20:48 +00:00
parent 8b3ff9feba
commit 4f171f3023
12 changed files with 136 additions and 186 deletions
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22
stick.c
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@@ -59,9 +59,9 @@ float stick_yaw = 0.0f;
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, float z)
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
@@ -168,9 +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) {
@@ -181,10 +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
/*