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switch for turning on z-sensor

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Martin Mueller
2006-08-03 06:15:14 +00:00
parent b584ab6cad
commit a441e0b2ff
1 changed files with 4 additions and 0 deletions
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sw/airborne/infrared.c
+4
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@@ -203,6 +203,10 @@ void estimator_update_state_infrared( void ) {
ir_rad_of_ir);
#ifndef ADC_CHANNEL_IR_TOP
z_constrast_mode = 0;
#else
#ifdef Z_CONTRAST_START
z_constrast_mode = 1;
#endif
#endif
ir_top = Max(ir_top, 1);
float c = rad_of_ir*(1-z_constrast_mode)+z_constrast_mode*((float)IR_RAD_OF_IR_CONTRAST/ir_top);