Page 338 - 2

uint32_t alt_change_timer;
int8_t alt_change_flag;
uint32_t alt_change;

uint8_t alarmArray[ALRM_FAC_SIZE]; // array

#if BARO
int32_t baroPressure;
int16_t baroTemperature;
int32_t baroPressureSum;
#endif

void annexCode() { // this code is excetuted at each loop and won't interfere with control loop i
f it lasts less than 650 microseconds
static uint32_t calibratedAccTime;
uint16_t tmp,tmp2;
uint8_t axis,prop1,prop2;

// PITCH & ROLL only dynamic PID adjustemnt, depending on throttle value (or collective.pit
ch value for heli)
#ifdef HELICOPTER
#define DYN_THR_PID_CHANNEL COLLECTIVE_PITCH
#else
#define DYN_THR_PID_CHANNEL THROTTLE
#endif
prop2 = 128; // prop2 was 100, is 128 now
if (rcData[DYN_THR_PID_CHANNEL]>1500) { // breakpoint is fix: 1500
if (rcData[DYN_THR_PID_CHANNEL]<2000) {
prop2 -= ((uint16_t)conf.dynThrPID*(rcData[DYN_THR_PID_CHANNEL]-1500)>>9); // /51
2 instead of /500
} else {
prop2 -= conf.dynThrPID;
}
}

for(axis=0;axis<3;axis++) {
tmp = min(abs(rcData[axis]-MIDRC),500);
#if defined(DEADBAND)
if (tmp>DEADBAND) { tmp -= DEADBAND; }
else { tmp=0; }
#endif
if(axis!=2) { //ROLL & PITCH
tmp2 = tmp>>7; // 500/128 = 3.9 => range [0;3]
rcCommand[axis] = lookupPitchRollRC[tmp2] + ((tmp-(tmp2<<7)) * (lookupPitchRollRC[tmp
2+1]-lookupPitchRollRC[tmp2])>>7);

- 338 -