/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; |