| /branches/dongfang_FC_rewrite/heightControl.c |
|---|
| 96,9 → 96,11 |
| testOscTimer++; |
| if (testOscTimer == staticParams.heightControlTestOscPeriod) { |
| testOscTimer = 0; |
| iHeight = 0; |
| if (staticParams.heightControlTestOscAmplitude) |
| iHeight = 0; |
| } else if (testOscTimer == staticParams.heightControlTestOscPeriod/2) { |
| iHeight = 0; |
| if (staticParams.heightControlTestOscAmplitude) |
| iHeight = 0; |
| } |
| } |
| 107,8 → 109,6 |
| else |
| targetHeight = setHeight + (uint16_t)staticParams.heightControlTestOscAmplitude * 25L; |
| debugOut.analog[31] = targetHeight/100L; |
| //if (staticParams.) |
| // height, in meters (so the division factor is: 100) |
| // debugOut.analog[24] = (117100 - filteredAirPressure) / 100; |
| /branches/dongfang_FC_rewrite/makefile |
|---|
| 273,7 → 273,7 |
| AVRDUDE_RESET = -u -U lfuse:r:m |
| #avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -B 5 |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) -B 10 |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| /branches/dongfang_FC_rewrite/uart0.c |
|---|
| 119,7 → 119,7 |
| "i part contrib ", |
| "Acc Z ", |
| "Height D ", //30 |
| "targetHeight/100" |
| "GPS vert accura " |
| }; |
| /****************************************************************/ |
| /branches/dongfang_FC_rewrite/ubx.c |
|---|
| 90,6 → 90,8 |
| GPSInfo.satnum = ubxSol.numSV; |
| GPSInfo.PAcc = ubxSol.pAcc; |
| GPSInfo.VAcc = ubxSol.sAcc; |
| debugOut.analog[31] = GPSInfo.VAcc/1000L; |
| // NAV POSLLH |
| GPSInfo.longitude = ubxPosLlh.lon; |
| GPSInfo.latitude = ubxPosLlh.lat; |