Rev 2069 | Rev 2073 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2069 | Rev 2071 | ||
|---|---|---|---|
| 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) |