99,7 → 99,7 |
} |
|
// height, in meters (so the division factor is: 100) |
DebugOut.Analog[30] = height / 10; |
debugOut.analog[30] = height / 10; |
} |
|
// ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
124,11 → 124,11 |
// iHeight += heightError; |
|
if (dHeight > 0) { |
DebugOut.Digital[0] |= DEBUG_HEIGHT_DIFF; |
DebugOut.Digital[1] &= ~DEBUG_HEIGHT_DIFF; |
debugOut.digital[0] |= DEBUG_HEIGHT_DIFF; |
debugOut.digital[1] &= ~DEBUG_HEIGHT_DIFF; |
} else if (dHeight < 0) { |
DebugOut.Digital[1] |= DEBUG_HEIGHT_DIFF; |
DebugOut.Digital[0] &= ~DEBUG_HEIGHT_DIFF; |
debugOut.digital[1] |= DEBUG_HEIGHT_DIFF; |
debugOut.digital[0] &= ~DEBUG_HEIGHT_DIFF; |
} |
|
/* |
167,13 → 167,13 |
if (isFlying >= 1000 && stronglyFilteredHeightDiff < 3 |
&& stronglyFilteredHeightDiff > -3) { |
hoverThrottle = stronglyFilteredThrottle; |
DebugOut.Digital[0] |= DEBUG_HOVERTHROTTLE; |
debugOut.digital[0] |= DEBUG_HOVERTHROTTLE; |
// DebugOut.Analog[18] = hoverThrottle; |
} else |
DebugOut.Digital[0] &= ~DEBUG_HOVERTHROTTLE; |
debugOut.digital[0] &= ~DEBUG_HOVERTHROTTLE; |
|
DebugOut.Analog[20] = dThrottle; |
DebugOut.Analog[21] = hoverThrottle; |
debugOut.analog[20] = dThrottle; |
debugOut.analog[21] = hoverThrottle; |
|
return throttle; |
} |