Subversion Repositories FlightCtrl

Rev

Rev 1775 | Rev 1821 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1775 Rev 1796
Line 41... Line 41...
41 
        uint8_t HeightD;                // Value : 0-250
 41 
        uint8_t HeightD;                // Value : 0-250
42 
        uint8_t MaxHeight;              // Value : 0-32
 42 
        uint8_t MaxHeight;              // Value : 0-32
43 
        uint8_t HeightP;                // Value : 0-32
 43 
        uint8_t HeightP;                // Value : 0-32
44 
        uint8_t Height_Gain;            // Value : 0-50
 44 
        uint8_t Height_Gain;            // Value : 0-50
45 
        uint8_t Height_ACC_Effect;      // Value : 0-250
 45 
        uint8_t Height_ACC_Effect;      // Value : 0-250
46 
 
 - 
 
47 
 */
 46 
 */
Line 48... Line 47...
48 
 
 47 
 
49 
int32_t getHeight(void) {
 48 
int32_t getHeight(void) {
50 
  return groundPressure - filteredAirPressure;
 49 
  return groundPressure - filteredAirPressure;
Line 97... Line 96...
97 
    } else if (rampedTargetHeight - staticParams.Height_Gain >= targetHeight) {
 96 
    } else if (rampedTargetHeight - staticParams.Height_Gain >= targetHeight) {
98 
      rampedTargetHeight -= staticParams.Height_Gain;
 97 
      rampedTargetHeight -= staticParams.Height_Gain;
99 
    }
 98 
    }
100 
  }
 99 
  }
Line 101... Line 100...
101 
 
 100 
 
102 
  //DebugOut.Analog[16] = (int16_t)(height / 10);
 101 
  // height, in meters (so the division factor is: 100)
103 
  //DebugOut.Analog[17] = (int16_t)(rampedTargetHeight / 10);
 102 
  DebugOut.Analog[30] = height / 100;
Line 104... Line 103...
104 
}
 103 
}
105 
 
 104 
 
106 
// ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL
 105 
// ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL