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Compare Revisions

• This comparison shows the changes necessary to convert path

  → /branches/dongfang_FC_rewrite/heightControl.c @ 1868

  → /branches/dongfang_FC_rewrite/heightControl.c @ 1869

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 1868 → Rev 1869

/branches/dongfang_FC_rewrite/heightControl.c
66,7 → 66,7
if (staticParams.GlobalConfig & CFG_HEIGHT_SWITCH) {
// If switch is activated in config, the MaxHeight parameter is a switch value: ON in both ends of the range; OFF in the middle.
DebugOut.Digital[0] |= DEBUG_HEIGHT_SWITCH;
// DebugOut.Digital[0] |= DEBUG_HEIGHT_SWITCH;
if (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255 - 40) {
// Switch is ON
if (setHeightLatch <= LATCH_TIME) {
73,7 → 73,7
if (setHeightLatch == LATCH_TIME) {
// Freeze the height as target. We want to do this exactly once each time the switch is thrown ON.
targetHeight = height;
DebugOut.Digital[1] |= DEBUG_HEIGHT_SWITCH;
// DebugOut.Digital[1] |= DEBUG_HEIGHT_SWITCH;
}
// Time not yet reached.
setHeightLatch++;
81,11 → 81,11
} else {
// Switch is OFF.
setHeightLatch = 0;
DebugOut.Digital[1] &= ~DEBUG_HEIGHT_SWITCH;
// DebugOut.Digital[1] &= ~DEBUG_HEIGHT_SWITCH;
}
} else {
// Switch is not activated; take the "max-height" as the target height.
DebugOut.Digital[0] &= ~DEBUG_HEIGHT_SWITCH;
// DebugOut.Digital[0] &= ~DEBUG_HEIGHT_SWITCH;
targetHeight = (uint16_t) dynamicParams.MaxHeight * 100; //getHeight() + 10 * 100;
}
99,7 → 99,7
}
// height, in meters (so the division factor is: 100)
DebugOut.Analog[30] = height / 100;
DebugOut.Analog[30] = height / 10;
}
// ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL
148,10 → 148,7
else if (dThrottle < -staticParams.HeightMinGas)
dThrottle = -staticParams.HeightMinGas;
//DebugOut.Analog[18] = dThrottle;
//DebugOut.Analog[19] = iHeight / 10000L;
// TODO: Eliminate repitition.
// TODO: Eliminate repetition.
if (staticParams.GlobalConfig & CFG_HEIGHT_CONTROL) {
if (!(staticParams.GlobalConfig & CFG_HEIGHT_SWITCH)
|| (dynamicParams.MaxHeight < 40 || dynamicParams.MaxHeight > 255 - 40)) {
174,6 → 171,10
// DebugOut.Analog[18] = hoverThrottle;
} else
DebugOut.Digital[0] &= ~DEBUG_HOVERTHROTTLE;
DebugOut.Analog[20] = dThrottle;
DebugOut.Analog[21] = hoverThrottle;
return throttle;
}