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Compare Revisions

• This comparison shows the changes necessary to convert path

  → /branches/dongfang_FC_rewrite/heightControl.c @ 2070

  → /branches/dongfang_FC_rewrite/heightControl.c @ 2071

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 2070 → Rev 2071

/branches/dongfang_FC_rewrite/heightControl.c
49,6 → 49,7
if (setHeightLatch == LATCH_TIME) {
// Freeze the height as target. We want to do this exactly once each time the switch is thrown ON.
/* rampedTargetHeight = */ targetHeight = height;
iHeight = 0;
}
// Time not yet reached.
setHeightLatch++;
139,7 → 140,7
//debugOut.analog[28] = dynamicParams.heightI;
//debugOut.analog[29] = dynamicParams.heightD;
int16_t dThrottle = dThrottleI + dThrottleP + dThrottleD;
int16_t dThrottle = dThrottleI + dThrottleP - dThrottleD;
if (dThrottle > staticParams.heightControlMaxThrottleChange)
dThrottle = staticParams.heightControlMaxThrottleChange;