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Rev 2095 | Rev 2160 | ||
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Line 174... | Line 174... | ||
174 | } |
174 | } |
Line 175... | Line 175... | ||
175 | 175 | ||
176 | int16_t dThrottleP = (heightError * dynamicParams.heightP) >> LOG_PHEIGHT_SCALE; |
176 | int16_t dThrottleP = (heightError * dynamicParams.heightP) >> LOG_PHEIGHT_SCALE; |
Line 177... | Line 177... | ||
177 | int16_t dThrottleD = (dHeight * dynamicParams.heightD) >> LOG_DHEIGHT_SCALE; |
177 | int16_t dThrottleD = (dHeight * dynamicParams.heightD) >> LOG_DHEIGHT_SCALE; |
178 | 178 | ||
179 | debugOut.analog[10] = dThrottleP; |
179 | //debugOut.analog[10] = dThrottleP; |
180 | debugOut.analog[11] = dThrottleI; |
180 | //debugOut.analog[11] = dThrottleI; |
Line 181... | Line 181... | ||
181 | debugOut.analog[12] = dThrottleD; |
181 | //debugOut.analog[12] = dThrottleD; |
Line 182... | Line 182... | ||
182 | //debugOut.analog[13] = heightError/10; |
182 | //debugOut.analog[13] = heightError/10; |