/branches/V0.68d Code Redesign killagreg/cmps03.c |
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51,7 → 51,8 |
{ |
if((PWMCount) && (PWMCount < 400)) |
{ |
PWMHeading = (((uint32_t)PWMCount * 1024L) / 1000L) - 10; // correct timebase and offset |
if(PWMCount <9) PWMHeading = 0; |
else PWMHeading = ((uint32_t)(PWMCount - 9) * 1049L) >> 10; // correct timebase and offset |
PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
// 12 * 400 counts * 102.4 us = 419 ms |
} |
/branches/V0.68d Code Redesign killagreg/fc.c |
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1165,7 → 1165,7 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Height Control |
// The higth control algorithm reduces the thrust but does not increase the thrust. |
// The higtht control algorithm reduces the thrust but does not increase the thrust. |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// If hight control is activated and no emergency landing is active |
if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |