| 3,7 → 3,6 |
|---|
| #include "attitude.h" |
| #include "configuration.h" |
| #include "controlMixer.h" |
| |
| // for digital / LED debug. |
| #include "output.h" |
| |
| 14,6 → 13,12 |
|---|
| |
| #define LATCH_TIME 3 |
| |
| // This will translate a height value to a target height in centimeters. |
| // Currently: One step is 50 cm and zero is 5 meters below the takeoff altitude. With max. 255 steps the max. |
| // target height is then about 120m. |
| #define HEIGHT_GAIN 50L |
| #define HEIGHT_FORMULA(x) ((x) * HEIGHT_GAIN - 500L) |
| |
| int32_t setHeight; |
| int32_t targetHeight; |
| |
| 64,7 → 69,7 |
|---|
| } |
| } else { |
| // Switch is not activated; take the "max-height" as the target height. |
| setHeight = (uint16_t) dynamicParams.heightSetting * 25L - 500L; // should be: 100 (or make a param out of it) |
| setHeight = (uint16_t) (HEIGHT_FORMULA(dynamicParams.heightSetting)); // should be: 100 (or make a param out of it) |
| } |
| |
| /* |
| 107,7 → 112,7 |
|---|
| if (hc_testOscTimer < staticParams.heightControlTestOscPeriod/2) |
| targetHeight = setHeight; |
| else |
| targetHeight = setHeight + (uint16_t)staticParams.heightControlTestOscAmplitude * 25L; |
| targetHeight = setHeight + (uint16_t)staticParams.heightControlTestOscAmplitude * HEIGHT_GAIN; |
| |
| //if (staticParams.) |
| // height, in meters (so the division factor is: 100) |