| /branches/V0.68d Code Redesign killagreg/cmps03.c |
|---|
| 51,7 → 51,8 |
| { |
| if((PWMCount) && (PWMCount < 400)) |
| { |
| PWMHeading = (((uint32_t)PWMCount * 1024L) / 1000L) - 10; // correct timebase and offset |
| if(PWMCount <9) PWMHeading = 0; |
| else PWMHeading = ((uint32_t)(PWMCount - 9) * 1049L) >> 10; // correct timebase and offset |
| PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
| // 12 * 400 counts * 102.4 us = 419 ms |
| } |
| /branches/V0.68d Code Redesign killagreg/fc.c |
|---|
| 1165,7 → 1165,7 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Height Control |
| // The higth control algorithm reduces the thrust but does not increase the thrust. |
| // The higtht control algorithm reduces the thrust but does not increase the thrust. |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // If hight control is activated and no emergency landing is active |
| if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |