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1163 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1163 | if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
1164 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
1164 | if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
Line 1165... | Line 1165... | ||
1165 | 1165 | ||
1166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1166 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1167 | // Height Control |
1167 | // Height Control |
1168 | // The higth control algorithm reduces the thrust but does not increase the thrust. |
1168 | // The higtht control algorithm reduces the thrust but does not increase the thrust. |
1169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1170 | // If hight control is activated and no emergency landing is active |
1170 | // If hight control is activated and no emergency landing is active |
1171 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
1171 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
1172 | { |
1172 | { |