Rev 2095 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2095 | Rev 2160 | ||
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| Line 174... | Line 174... | ||
| 174 | } |
174 | } |
| Line 175... | Line 175... | ||
| 175 | 175 | ||
| 176 | int16_t dThrottleP = (heightError * dynamicParams.heightP) >> LOG_PHEIGHT_SCALE; |
176 | int16_t dThrottleP = (heightError * dynamicParams.heightP) >> LOG_PHEIGHT_SCALE; |
| Line 177... | Line 177... | ||
| 177 | int16_t dThrottleD = (dHeight * dynamicParams.heightD) >> LOG_DHEIGHT_SCALE; |
177 | int16_t dThrottleD = (dHeight * dynamicParams.heightD) >> LOG_DHEIGHT_SCALE; |
| 178 | 178 | ||
| 179 | debugOut.analog[10] = dThrottleP; |
179 | //debugOut.analog[10] = dThrottleP; |
| 180 | debugOut.analog[11] = dThrottleI; |
180 | //debugOut.analog[11] = dThrottleI; |
| Line 181... | Line 181... | ||
| 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; |