| 1,14 → 1,9 |
|---|
| #include <inttypes.h> |
| #include "analog.h" |
| #include "attitude.h" |
| #include "configuration.h" |
| #include "controlMixer.h" |
| // for digital / LED debug. |
| #include "output.h" |
| #include "definitions.h" |
| #include "debug.h" |
| |
| // For scope debugging only! |
| #include "rc.h" |
| |
| #define INTEGRAL_LIMIT 100000 |
| |
| #define LATCH_TIME 3 |
| 69,7 → 64,7 |
|---|
| } |
| } else { |
| // Switch is not activated; take the "max-height" as the target height. |
| setHeight = (uint16_t) (HEIGHT_FORMULA(dynamicParams.heightSetting)); // should be: 100 (or make a param out of it) |
| setHeight = (uint16_t) (HEIGHT_FORMULA(dynamicParams.heightSetting)); |
| } |
| |
| /* |
| 96,7 → 91,8 |
|---|
| // uint8_t heightControlTestOscAmplitude; |
| |
| hc_testOscPrescaler++; |
| if (hc_testOscPrescaler == 488) { |
| |
| if (hc_testOscPrescaler == 250) { |
| hc_testOscPrescaler = 0; |
| hc_testOscTimer++; |
| if (hc_testOscTimer == staticParams.heightControlTestOscPeriod) { |
| 127,9 → 123,9 |
|---|
| |
| // takes 180-200 usec (with integral term). That is too heavy!!! |
| // takes 100 usec without integral term. |
| void HC_periodicTaskAndPRTY(int16_t* PRTY) { |
| void HC_periodicTaskAndRPTY(int16_t* RPTY) { |
| HC_periodicTask(); |
| int16_t throttle = PRTY[CONTROL_THROTTLE]; |
| int16_t throttle = RPTY[CONTROL_THROTTLE]; |
| int32_t height = analog_getHeight(); |
| int32_t heightError = targetHeight - height; |
| int16_t dHeight = analog_getDHeight(); |
| 206,7 → 202,7 |
|---|
| |
| /* Experiment: Find hover-throttle */ |
| |
| #define DEFAULT_HOVERTHROTTLE 50 |
| #define DEFAULT_HOVERTHROTTLE 200 |
| int32_t stronglyFilteredHeightDiff = 0; |
| // uint16_t hoverThrottle = 0; // DEFAULT_HOVERTHROTTLE; |
| uint16_t stronglyFilteredThrottle = DEFAULT_HOVERTHROTTLE; |
| 227,7 → 223,7 |
|---|
| |
| */ |
| |
| PRTY[CONTROL_THROTTLE] = throttle; |
| RPTY[CONTROL_THROTTLE] = throttle; |
| } |
| |
| /* |