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| Rev 2088 | Rev 2089 | ||
|---|---|---|---|
| Line 179... | Line 179... | ||
| 179 | debugOut.analog[10] = dThrottleP; |
179 | debugOut.analog[10] = dThrottleP; |
| 180 | debugOut.analog[11] = dThrottleI; |
180 | debugOut.analog[11] = dThrottleI; |
| 181 | debugOut.analog[12] = dThrottleD; |
181 | debugOut.analog[12] = dThrottleD; |
| 182 | debugOut.analog[13] = heightError/10; |
182 | debugOut.analog[13] = heightError/10; |
| Line 183... | Line -... | ||
| 183 | - | ||
| 184 | //debugOut.analog[27] = dynamicParams.heightP; |
- | |
| 185 | //debugOut.analog[28] = dynamicParams.heightI; |
- | |
| 186 | //debugOut.analog[29] = dynamicParams.heightD; |
- | |
| 187 | 183 | ||
| Line 188... | Line 184... | ||
| 188 | int16_t dThrottle = dThrottleI + dThrottleP - dThrottleD; |
184 | int16_t dThrottle = dThrottleI + dThrottleP - dThrottleD; |
| 189 | 185 | ||
| 190 | if (dThrottle > staticParams.heightControlMaxThrottleChange) |
186 | if (dThrottle > staticParams.heightControlMaxThrottleChange) |