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| 1 | #include <inttypes.h> |
1 | #include <inttypes.h> |
| 2 | #include "analog.h" |
2 | #include "analog.h" |
| 3 | #include "attitude.h" |
3 | #include "attitude.h" |
| 4 | #include "configuration.h" |
4 | #include "configuration.h" |
| 5 | #include "controlMixer.h" |
5 | #include "controlMixer.h" |
| 6 | - | ||
| 7 | // for digital / LED debug. |
6 | // for digital / LED debug. |
| 8 | #include "output.h" |
7 | #include "output.h" |
| Line 9... | Line 8... | ||
| 9 | 8 | ||
| 10 | // For scope debugging only! |
9 | // For scope debugging only! |
| Line 11... | Line 10... | ||
| 11 | #include "rc.h" |
10 | #include "rc.h" |
| Line 12... | Line 11... | ||
| 12 | 11 | ||
| Line -... | Line 12... | ||
| - | 12 | #define INTEGRAL_LIMIT 100000 |
|
| - | 13 | ||
| - | 14 | #define LATCH_TIME 3 |
|
| - | 15 | ||
| - | 16 | // This will translate a height value to a target height in centimeters. |
|
| - | 17 | // Currently: One step is 50 cm and zero is 5 meters below the takeoff altitude. With max. 255 steps the max. |
|
| 13 | #define INTEGRAL_LIMIT 100000 |
18 | // target height is then about 120m. |
| 14 | 19 | #define HEIGHT_GAIN 50L |
|
| Line 15... | Line 20... | ||
| 15 | #define LATCH_TIME 3 |
20 | #define HEIGHT_FORMULA(x) ((x) * HEIGHT_GAIN - 500L) |
| 16 | 21 | ||
| Line 62... | Line 67... | ||
| 62 | // Switch is OFF. |
67 | // Switch is OFF. |
| 63 | setHeightLatch = 0; |
68 | setHeightLatch = 0; |
| 64 | } |
69 | } |
| 65 | } else { |
70 | } else { |
| 66 | // Switch is not activated; take the "max-height" as the target height. |
71 | // Switch is not activated; take the "max-height" as the target height. |
| 67 | setHeight = (uint16_t) dynamicParams.heightSetting * 25L - 500L; // should be: 100 (or make a param out of it) |
72 | setHeight = (uint16_t) (HEIGHT_FORMULA(dynamicParams.heightSetting)); // should be: 100 (or make a param out of it) |
| 68 | } |
73 | } |
| Line 69... | Line 74... | ||
| 69 | 74 | ||
| 70 | /* |
75 | /* |
| 71 | if (++heightRampingTimer == INTEGRATION_FREQUENCY / 10) { |
76 | if (++heightRampingTimer == INTEGRATION_FREQUENCY / 10) { |
| Line 105... | Line 110... | ||
| 105 | } |
110 | } |
| Line 106... | Line 111... | ||
| 106 | 111 | ||
| 107 | if (hc_testOscTimer < staticParams.heightControlTestOscPeriod/2) |
112 | if (hc_testOscTimer < staticParams.heightControlTestOscPeriod/2) |
| 108 | targetHeight = setHeight; |
113 | targetHeight = setHeight; |
| 109 | else |
114 | else |
| Line 110... | Line 115... | ||
| 110 | targetHeight = setHeight + (uint16_t)staticParams.heightControlTestOscAmplitude * 25L; |
115 | targetHeight = setHeight + (uint16_t)staticParams.heightControlTestOscAmplitude * HEIGHT_GAIN; |
| 111 | 116 | ||
| 112 | //if (staticParams.) |
117 | //if (staticParams.) |
| 113 | // height, in meters (so the division factor is: 100) |
118 | // height, in meters (so the division factor is: 100) |