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  → / @ 2026

  → / @ 2027

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Ignore whitespace Rev 2026 → Rev 2027

/branches/dongfang_FC_rewrite/externalControl.c
1,4 → 1,4
#include "externalcontrol.h"
#include "externalControl.h"
#include "configuration.h"
#include "controlMixer.h"

/branches/dongfang_FC_rewrite/heightControl.c
11,13 → 11,6
#define INTEGRAL_LIMIT 100000
/*
#define DEBUGINTEGRAL 0
#define DEBUGDIFFERENTIAL 0
#define DEBUGHOVERTHROTTLE 0
#define DEBUGHEIGHTSWITCH 0
*/
#define LATCH_TIME 40
int32_t groundPressure;
126,7 → 119,7
else if (iHeight < 0) { if (DEBUGINTEGRAL) DebugOut.Digital[1] = 1;}
*/
int16_t dThrottle = ((heightError * staticParams.heightP) >> 9)
int16_t dThrottle = ((heightError * staticParams.heightP) >> 10)
/*+ iHeight / 10000L * staticParams.Height_ACC_Effect */-((dHeight * staticParams.heightD) >> 7);
if (dThrottle > staticParams.heightControlMaxThrottleChange)