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| Rev 2089 | Rev 2095 | ||
|---|---|---|---|
| Line 177... | Line 177... | ||
| 177 | int16_t dThrottleD = (dHeight * dynamicParams.heightD) >> LOG_DHEIGHT_SCALE; |
177 | int16_t dThrottleD = (dHeight * dynamicParams.heightD) >> LOG_DHEIGHT_SCALE; |
| Line 178... | Line 178... | ||
| 178 | 178 | ||
| 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; |
| Line 182... | Line 182... | ||
| 182 | debugOut.analog[13] = heightError/10; |
182 | //debugOut.analog[13] = heightError/10; |
| Line 183... | Line 183... | ||
| 183 | 183 | ||
| 184 | int16_t dThrottle = dThrottleI + dThrottleP - dThrottleD; |
184 | int16_t dThrottle = dThrottleI + dThrottleP - dThrottleD; |