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41 | uint8_t HeightD; // Value : 0-250 |
41 | uint8_t HeightD; // Value : 0-250 |
42 | uint8_t MaxHeight; // Value : 0-32 |
42 | uint8_t MaxHeight; // Value : 0-32 |
43 | uint8_t HeightP; // Value : 0-32 |
43 | uint8_t HeightP; // Value : 0-32 |
44 | uint8_t Height_Gain; // Value : 0-50 |
44 | uint8_t Height_Gain; // Value : 0-50 |
45 | uint8_t Height_ACC_Effect; // Value : 0-250 |
45 | uint8_t Height_ACC_Effect; // Value : 0-250 |
46 | - | ||
47 | */ |
46 | */ |
Line 48... | Line 47... | ||
48 | 47 | ||
49 | int32_t getHeight(void) { |
48 | int32_t getHeight(void) { |
50 | return groundPressure - filteredAirPressure; |
49 | return groundPressure - filteredAirPressure; |
Line 97... | Line 96... | ||
97 | } else if (rampedTargetHeight - staticParams.Height_Gain >= targetHeight) { |
96 | } else if (rampedTargetHeight - staticParams.Height_Gain >= targetHeight) { |
98 | rampedTargetHeight -= staticParams.Height_Gain; |
97 | rampedTargetHeight -= staticParams.Height_Gain; |
99 | } |
98 | } |
100 | } |
99 | } |
Line 101... | Line 100... | ||
101 | 100 | ||
102 | //DebugOut.Analog[16] = (int16_t)(height / 10); |
101 | // height, in meters (so the division factor is: 100) |
103 | //DebugOut.Analog[17] = (int16_t)(rampedTargetHeight / 10); |
102 | DebugOut.Analog[30] = height / 100; |
Line 104... | Line 103... | ||
104 | } |
103 | } |
105 | 104 | ||
106 | // ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
105 | // ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |