Subversion Repositories FlightCtrl

                        rampedTargetHeight -= staticParams.Height_Gain;

                        rampedTargetHeight -= staticParams.Height_Gain;

                }

                }

        }

        }

        DebugOut.Analog[30] = height / 10;

        debugOut.analog[30] = height / 10;

}

}

// ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL

// ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL

        // iHeight, at a difference of 5 meters and a freq. of 488 Hz, will grow with 244000 / sec....

        // iHeight, at a difference of 5 meters and a freq. of 488 Hz, will grow with 244000 / sec....

        // iHeight += heightError;

        // iHeight += heightError;

                DebugOut.Digital[0] |= DEBUG_HEIGHT_DIFF;

                debugOut.digital[0] |= DEBUG_HEIGHT_DIFF;

                DebugOut.Digital[1] |= DEBUG_HEIGHT_DIFF;

                debugOut.digital[1] |= DEBUG_HEIGHT_DIFF;

                DebugOut.Digital[0] &= ~DEBUG_HEIGHT_DIFF;

                debugOut.digital[0] &= ~DEBUG_HEIGHT_DIFF;

        }

        }

                        - 1) + throttle) / HOVERTHROTTLEFILTER;

                        - 1) + throttle) / HOVERTHROTTLEFILTER;

        if (isFlying >= 1000 && stronglyFilteredHeightDiff < 3

        if (isFlying >= 1000 && stronglyFilteredHeightDiff < 3

                        && stronglyFilteredHeightDiff > -3) {

                        && stronglyFilteredHeightDiff > -3) {

                DebugOut.Digital[0] |= DEBUG_HOVERTHROTTLE;

                debugOut.digital[0] |= DEBUG_HOVERTHROTTLE;

                // DebugOut.Analog[18] = hoverThrottle;

                // DebugOut.Analog[18] = hoverThrottle;

    DebugOut.Analog[20] = dThrottle;

    debugOut.analog[20] = dThrottle;

    DebugOut.Analog[21] = hoverThrottle;

    debugOut.analog[21] = hoverThrottle;