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| Rev 2079 | Rev 2086 | ||
|---|---|---|---|
| Line 15... | Line 15... | ||
| 15 | #define LATCH_TIME 3 |
15 | #define LATCH_TIME 3 |
| Line 16... | Line 16... | ||
| 16 | 16 | ||
| 17 | int32_t setHeight; |
17 | int32_t setHeight; |
| Line 18... | Line 18... | ||
| 18 | int32_t targetHeight; |
18 | int32_t targetHeight; |
| 19 | 19 | ||
| Line 20... | Line 20... | ||
| 20 | uint16_t testOscPrescaler = 0; |
20 | uint16_t hc_testOscPrescaler = 0; |
| 21 | uint8_t testOscTimer = 0; |
21 | uint8_t hc_testOscTimer = 0; |
| Line 22... | Line 22... | ||
| 22 | 22 | ||
| 23 | int32_t maxHeightThisFlight; |
23 | int32_t maxHeightThisFlight; |
| 24 | int32_t iHeight; |
24 | int32_t iHeight; |
| 25 | 25 | ||
| 26 | void HC_setGround(void) { |
26 | void HC_setGround(void) { |
| 27 | analog_setGround(); |
27 | analog_setGround(); |
| 28 | // This should also happen when height control is enabled in-flight. |
28 | // This should also happen when height control is enabled in-flight. |
| 29 | setHeight = targetHeight = analog_getHeight(); |
29 | setHeight = targetHeight = analog_getHeight(); |
| Line 30... | Line 30... | ||
| 30 | testOscTimer = 0; |
30 | hc_testOscTimer = 0; |
| Line 50... | Line 50... | ||
| 50 | // Switch is ON |
50 | // Switch is ON |
| 51 | if (setHeightLatch <= LATCH_TIME) { |
51 | if (setHeightLatch <= LATCH_TIME) { |
| 52 | if (setHeightLatch == LATCH_TIME) { |
52 | if (setHeightLatch == LATCH_TIME) { |
| 53 | // Freeze the height as target. We want to do this exactly once each time the switch is thrown ON. |
53 | // Freeze the height as target. We want to do this exactly once each time the switch is thrown ON. |
| 54 | setHeight = height; |
54 | setHeight = height; |
| 55 | testOscTimer = 0; |
55 | hc_testOscTimer = 0; |
| 56 | iHeight = 0; |
56 | iHeight = 0; |
| 57 | } |
57 | } |
| 58 | // Time not yet reached. |
58 | // Time not yet reached. |
| 59 | setHeightLatch++; |
59 | setHeightLatch++; |
| 60 | } |
60 | } |
| Line 88... | Line 88... | ||
| 88 | } |
88 | } |
| 89 | */ |
89 | */ |
| 90 | // uint8_t heightControlTestOscPeriod; |
90 | // uint8_t heightControlTestOscPeriod; |
| 91 | // uint8_t heightControlTestOscAmplitude; |
91 | // uint8_t heightControlTestOscAmplitude; |
| Line 92... | Line 92... | ||
| 92 | 92 | ||
| 93 | testOscPrescaler++; |
93 | hc_testOscPrescaler++; |
| 94 | if (testOscPrescaler == 488) { |
94 | if (hc_testOscPrescaler == 488) { |
| 95 | testOscPrescaler = 0; |
95 | hc_testOscPrescaler = 0; |
| 96 | testOscTimer++; |
96 | hc_testOscTimer++; |
| 97 | if (testOscTimer == staticParams.heightControlTestOscPeriod) { |
97 | if (hc_testOscTimer == staticParams.heightControlTestOscPeriod) { |
| 98 | testOscTimer = 0; |
98 | hc_testOscTimer = 0; |
| 99 | if (staticParams.heightControlTestOscAmplitude) |
99 | if (staticParams.heightControlTestOscAmplitude) |
| 100 | iHeight = 0; |
100 | iHeight = 0; |
| 101 | } else if (testOscTimer == staticParams.heightControlTestOscPeriod/2) { |
101 | } else if (hc_testOscTimer == staticParams.heightControlTestOscPeriod/2) { |
| 102 | if (staticParams.heightControlTestOscAmplitude) |
102 | if (staticParams.heightControlTestOscAmplitude) |
| 103 | iHeight = 0; |
103 | iHeight = 0; |
| 104 | } |
104 | } |
| Line 105... | Line 105... | ||
| 105 | } |
105 | } |
| 106 | 106 | ||
| 107 | if (testOscTimer < staticParams.heightControlTestOscPeriod/2) |
107 | if (hc_testOscTimer < staticParams.heightControlTestOscPeriod/2) |
| 108 | targetHeight = setHeight; |
108 | targetHeight = setHeight; |
| Line 109... | Line 109... | ||
| 109 | else |
109 | else |