49,6 → 49,7 |
if (setHeightLatch == LATCH_TIME) { |
// Freeze the height as target. We want to do this exactly once each time the switch is thrown ON. |
/* rampedTargetHeight = */ targetHeight = height; |
iHeight = 0; |
} |
// Time not yet reached. |
setHeightLatch++; |
139,7 → 140,7 |
//debugOut.analog[28] = dynamicParams.heightI; |
//debugOut.analog[29] = dynamicParams.heightD; |
|
int16_t dThrottle = dThrottleI + dThrottleP + dThrottleD; |
int16_t dThrottle = dThrottleI + dThrottleP - dThrottleD; |
|
if (dThrottle > staticParams.heightControlMaxThrottleChange) |
dThrottle = staticParams.heightControlMaxThrottleChange; |