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Line 47... | Line 47... | ||
47 | // Switch is ON |
47 | // Switch is ON |
48 | if (setHeightLatch <= LATCH_TIME) { |
48 | if (setHeightLatch <= LATCH_TIME) { |
49 | if (setHeightLatch == LATCH_TIME) { |
49 | if (setHeightLatch == LATCH_TIME) { |
50 | // Freeze the height as target. We want to do this exactly once each time the switch is thrown ON. |
50 | // Freeze the height as target. We want to do this exactly once each time the switch is thrown ON. |
51 | /* rampedTargetHeight = */ targetHeight = height; |
51 | /* rampedTargetHeight = */ targetHeight = height; |
- | 52 | iHeight = 0; |
|
52 | } |
53 | } |
53 | // Time not yet reached. |
54 | // Time not yet reached. |
54 | setHeightLatch++; |
55 | setHeightLatch++; |
55 | } |
56 | } |
56 | } else { |
57 | } else { |
Line 137... | Line 138... | ||
137 | 138 | ||
138 | //debugOut.analog[27] = dynamicParams.heightP; |
139 | //debugOut.analog[27] = dynamicParams.heightP; |
139 | //debugOut.analog[28] = dynamicParams.heightI; |
140 | //debugOut.analog[28] = dynamicParams.heightI; |
Line 140... | Line 141... | ||
140 | //debugOut.analog[29] = dynamicParams.heightD; |
141 | //debugOut.analog[29] = dynamicParams.heightD; |
Line 141... | Line 142... | ||
141 | 142 | ||
142 | int16_t dThrottle = dThrottleI + dThrottleP + dThrottleD; |
143 | int16_t dThrottle = dThrottleI + dThrottleP - dThrottleD; |
143 | 144 | ||
144 | if (dThrottle > staticParams.heightControlMaxThrottleChange) |
145 | if (dThrottle > staticParams.heightControlMaxThrottleChange) |