/branches/dongfang_FC_rewrite/heightControl.c |
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176,9 → 176,9 |
int16_t dThrottleP = (heightError * dynamicParams.heightP) >> LOG_PHEIGHT_SCALE; |
int16_t dThrottleD = (dHeight * dynamicParams.heightD) >> LOG_DHEIGHT_SCALE; |
debugOut.analog[10] = dThrottleP; |
debugOut.analog[11] = dThrottleI; |
debugOut.analog[12] = dThrottleD; |
//debugOut.analog[10] = dThrottleP; |
//debugOut.analog[11] = dThrottleI; |
//debugOut.analog[12] = dThrottleD; |
//debugOut.analog[13] = heightError/10; |
int16_t dThrottle = dThrottleI + dThrottleP - dThrottleD; |