| 1374,7 → 1374,7 |
|---|
| YawGyroDrift += error; |
| if(UpdateCompassCourse) |
| { |
| BeepTime = 200; |
| //BeepTime = 200; |
| YawGyroHeading = (int32_t)CompassHeading * GYRO_DEG_FACTOR; |
| CompassCourse = (int16_t)(YawGyroHeading / GYRO_DEG_FACTOR); |
| UpdateCompassCourse = 0; |
| 1444,7 → 1444,7 |
|---|
| DebugOut.Analog[11] = YawGyroHeading / GYRO_DEG_FACTOR; |
| DebugOut.Analog[19] = CompassCalState; |
| DebugOut.Analog[20] = ServoNickValue; |
| DebugOut.Analog[29] = NCSerialDataOkay; |
| //DebugOut.Analog[29] = NCSerialDataOkay; |
| DebugOut.Analog[30] = GPSStickNick; |
| DebugOut.Analog[31] = GPSStickRoll; |
| } |
| 1523,8 → 1523,9 |
|---|
| |
| #define BARO_LIMIT_MAX 0x01 |
| #define BARO_LIMIT_MIN 0x02 |
| #define BARO_EXPAND_TIME 350 // 350 * 2ms = 0.7s |
| static uint8_t BaroFlags = 0; |
| static uint8_t BaroExpandActive = 0; |
| static uint16_t BaroExpandActive = 0; |
| |
| // get the current hooverpoint |
| DebugOut.Analog[21] = HooverGas; |
| 1548,7 → 1549,7 |
|---|
| ExpandBaro -= 1; |
| OCR0A = PressureSensorOffset - EXPANDBARO_OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
| BeepTime = 300; |
| BaroExpandActive = 250; |
| BaroExpandActive = BARO_EXPAND_TIME; |
| } |
| else |
| { |
| 1563,7 → 1564,7 |
|---|
| ExpandBaro += 1; |
| OCR0A = PressureSensorOffset - EXPANDBARO_OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
| BeepTime = 300; |
| BaroExpandActive = 250; |
| BaroExpandActive = BARO_EXPAND_TIME; |
| } |
| else |
| { |
| 1659,9 → 1660,9 |
|---|
| } |
| else // gas stick in hoover range |
| { |
| if(HeightTrimmingFlag & (HC_TRIM_UP|HC_TRIM_DOWN)) |
| if(HeightTrimmingFlag & (HC_TRIM_UP | HC_TRIM_DOWN)) |
| { |
| HeightTrimmingFlag &= ~(HC_TRIM_UP|HC_TRIM_DOWN); |
| HeightTrimmingFlag &= ~(HC_TRIM_UP | HC_TRIM_DOWN); |
| HeightTrimming = 0; |
| SetPointHeight = ReadingHeight; // update setpoint to current height |
| if(ParamSet.Config2 & CFG2_VARIO_BEEP) BeepTime = 500; |
| 1681,6 → 1682,7 |
|---|
| LIMIT_MIN_MAX(StickGasHoover, 70, 150); // reserve some range for trim up and down |
| } |
| } // EOF trimming height set point |
| if(BaroExpandActive) SetPointHeight = ReadingHeight; // update setpoint to current altitude if expanding is active |
| } //if MKFlags & MKFLAG_FLY |
| else // not flying but height control is already active |
| { |