Subversion Repositories FlightCtrl

#include <inttypes.h>

#include <inttypes.h>

#include "analog.h"

#include "analog.h"

#include "attitude.h"

#include "attitude.h"

#include "uart0.h"

#include "uart0.h"

#include "configuration.h"

#include "configuration.h"

// for digital / LED debug.

// for digital / LED debug.

#include "output.h"

#include "output.h"

  // Experimental 0 alt number: 117100

  // Experimental 0 alt number: 117100

}

}

// takes 180-200 usec (with integral term). That is too heavy!!!

// takes 180-200 usec (with integral term). That is too heavy!!!

uint16_t HC_getThrottle(uint16_t throttle) {

  int16_t throttle = PRTY[CONTROL_THROTTLE];

  int32_t height = analog_getHeight();

  int32_t height = analog_getHeight();

  //static int32_t lastHeight;

  int32_t heightError = rampedTargetHeight - height;

  int16_t dHeight = analog_getDHeight();

  int16_t dHeight = analog_getDHeight();

  //lastHeight = height;

  //lastHeight = height;

  } else

  } else

    debugOut.digital[0] &= ~DEBUG_HOVERTHROTTLE;

    debugOut.digital[0] &= ~DEBUG_HOVERTHROTTLE;

  return throttle;

  PRTY[CONTROL_THROTTLE] = throttle;

}

}