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#include <inttypes.h>
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#include <inttypes.h>
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#include "analog.h"
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#include "attitude.h"
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#include "attitude.h"
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#include "configuration.h"
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#include "configuration.h"
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#include "controlMixer.h"
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#include "definitions.h"
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// for digital / LED debug.
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#include "output.h"
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#include "debug.h"
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// For scope debugging only!
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#include "rc.h"
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#define INTEGRAL_LIMIT 100000
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#define INTEGRAL_LIMIT 100000
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      // Switch is OFF.
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      // Switch is OFF.
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      setHeightLatch = 0;
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      setHeightLatch = 0;
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    }
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    }
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  } else {
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  } else {
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    // Switch is not activated; take the "max-height" as the target height.
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    // Switch is not activated; take the "max-height" as the target height.
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    setHeight = (uint16_t) (HEIGHT_FORMULA(dynamicParams.heightSetting)); // should be: 100 (or make a param out of it)
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    setHeight = (uint16_t) (HEIGHT_FORMULA(dynamicParams.heightSetting));
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  }
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  }
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  /*
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  /*
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  if (++heightRampingTimer == INTEGRATION_FREQUENCY / 10) {
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  if (++heightRampingTimer == INTEGRATION_FREQUENCY / 10) {
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  */
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  */
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  //      uint8_t heightControlTestOscPeriod;
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  //      uint8_t heightControlTestOscPeriod;
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  //      uint8_t heightControlTestOscAmplitude;
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  //      uint8_t heightControlTestOscAmplitude;
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  hc_testOscPrescaler++;
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  hc_testOscPrescaler++;
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  if (hc_testOscPrescaler == 488) {
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  if (hc_testOscPrescaler == 250) {
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          hc_testOscPrescaler = 0;
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          hc_testOscPrescaler = 0;
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          hc_testOscTimer++;
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          hc_testOscTimer++;
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          if (hc_testOscTimer == staticParams.heightControlTestOscPeriod) {
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          if (hc_testOscTimer == staticParams.heightControlTestOscPeriod) {
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                  hc_testOscTimer = 0;
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                  hc_testOscTimer = 0;
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#define LOG_IHEIGHT_SCALE 24
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#define LOG_IHEIGHT_SCALE 24
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#define LOG_DHEIGHT_SCALE 6
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#define LOG_DHEIGHT_SCALE 6
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// takes 180-200 usec (with integral term). That is too heavy!!!
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// takes 180-200 usec (with integral term). That is too heavy!!!
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// takes 100 usec without integral term.
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// takes 100 usec without integral term.
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void HC_periodicTaskAndPRTY(int16_t* PRTY) {
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void HC_periodicTaskAndRPTY(int16_t* RPTY) {
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  HC_periodicTask();
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  HC_periodicTask();
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  int16_t throttle = PRTY[CONTROL_THROTTLE];
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  int16_t throttle = RPTY[CONTROL_THROTTLE];
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  int32_t height = analog_getHeight();
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  int32_t height = analog_getHeight();
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  int32_t heightError = targetHeight - height;
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  int32_t heightError = targetHeight - height;
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  int16_t dHeight = analog_getDHeight();
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  int16_t dHeight = analog_getDHeight();
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    }
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    }
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  }
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  }
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  /* Experiment: Find hover-throttle */
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  /* Experiment: Find hover-throttle */
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#define DEFAULT_HOVERTHROTTLE 50
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#define DEFAULT_HOVERTHROTTLE 200
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int32_t stronglyFilteredHeightDiff = 0;
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int32_t stronglyFilteredHeightDiff = 0;
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// uint16_t hoverThrottle = 0; // DEFAULT_HOVERTHROTTLE;
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// uint16_t hoverThrottle = 0; // DEFAULT_HOVERTHROTTLE;
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  } else
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  } else
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    debugOut.digital[0] &= ~DEBUG_HOVERTHROTTLE;
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    debugOut.digital[0] &= ~DEBUG_HOVERTHROTTLE;
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    */
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    */
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  PRTY[CONTROL_THROTTLE] = throttle;
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  RPTY[CONTROL_THROTTLE] = throttle;
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}
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}
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