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// For scope debugging only!
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// For scope debugging only!
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#include "rc.h"
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#include "rc.h"
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#define INTEGRAL_LIMIT 100000
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/*
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 #define DEBUGINTEGRAL 0
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 #define DEBUGDIFFERENTIAL 0
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 #define DEBUGHOVERTHROTTLE 0
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 #define DEBUGHEIGHTSWITCH 0
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 */
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#define INTEGRAL_LIMIT 100000
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#define LATCH_TIME 40
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#define LATCH_TIME 40
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    else if (iHeight < -INTEGRAL_LIMIT) { iHeight = -INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 0; DebugOut.Digital[1] = 0; }}
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    else if (iHeight < -INTEGRAL_LIMIT) { iHeight = -INTEGRAL_LIMIT; if (DEBUGINTEGRAL) {DebugOut.Digital[0] = 0; DebugOut.Digital[1] = 0; }}
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    else if (iHeight > 0) { if (DEBUGINTEGRAL) DebugOut.Digital[0] = 1;}
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    else if (iHeight > 0) { if (DEBUGINTEGRAL) DebugOut.Digital[0] = 1;}
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    else if (iHeight < 0) { if (DEBUGINTEGRAL) DebugOut.Digital[1] = 1;}
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    else if (iHeight < 0) { if (DEBUGINTEGRAL) DebugOut.Digital[1] = 1;}
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  */
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  */
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  int16_t dThrottle = ((heightError * staticParams.heightP) >> 9)
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  int16_t dThrottle = ((heightError * staticParams.heightP) >> 10)
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    /*+ iHeight / 10000L * staticParams.Height_ACC_Effect */-((dHeight * staticParams.heightD) >> 7);
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    /*+ iHeight / 10000L * staticParams.Height_ACC_Effect */-((dHeight * staticParams.heightD) >> 7);
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  if (dThrottle > staticParams.heightControlMaxThrottleChange)
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  if (dThrottle > staticParams.heightControlMaxThrottleChange)