| /trunk/fc.c |
|---|
| 160,7 → 160,7 |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| int MaxStickNick = 0,MaxStickRoll = 0; |
| unsigned int modell_fliegt = 0; |
| volatile unsigned char FC_StatusFlags = 0; |
| volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
| long GIER_GRAD_FAKTOR = 1291; |
| signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| signed int tmp_motorwert[MAX_MOTORS]; |
| 637,8 → 637,7 |
| BeepMuster = 0xA400; |
| CareFree = 0; |
| } |
| if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
| if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
| } |
| //############################################################################ |
| 1439,6 → 1438,7 |
| // the height control is only an attenuation of the actual gas stick. |
| // I.e. it will work only if the gas stick is higher than the hover gas |
| // and the hover height will be allways larger than height setpoint. |
| FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
| if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| { // old version |
| HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| 1639,8 → 1639,8 |
| FilterHCGas = GasMischanteil; |
| // set both flags to indicate no vario mode |
| FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
| } |
| // Hover gas estimation by averaging gas control output on small z-velocities |
| // this is done only if height contol option is selected in global config and aircraft is flying |
| if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| /trunk/fc.h |
|---|
| 20,8 → 20,12 |
| #define FC_STATUS_VARIO_TRIM_UP 0x40 |
| #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
| extern volatile unsigned char FC_StatusFlags; |
| // FC STATUS FLAGS2 |
| #define FC_STATUS2_CAREFREE 0x01 |
| #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
| extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2; |
| #define Poti1 Poti[0] |
| #define Poti2 Poti[1] |
| #define Poti3 Poti[2] |
| /trunk/libfc1284.a |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /trunk/spi.c |
|---|
| 187,6 → 187,7 |
| FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
| ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
| ToNaviCtrl.Param.Byte[10] = ControlHeading; |
| ToNaviCtrl.Param.Byte[11] = FC_StatusFlags2; |
| break; |
| case SPI_FCCMD_ACCU: |
| 308,9 → 309,9 |
| { |
| KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
| } |
| if(CareFree) POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // Nickwinkel |
| else POI_KameraNick = 0; |
| // if(CareFree) POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // Nickwinkel |
| // else POI_KameraNick = 0; |
| POI_KameraNick = POI_KameraNick = (POI_KameraNick + FromNaviCtrl.Param.sInt[5]) / 2; // FromNaviCtrl.Param.sInt[5]; // Nickwinkel |
| break; |
| case SPI_NCCMD_VERSION: |
| NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
| 333,8 → 334,6 |
| PPM_in[25] = (signed char) FromNaviCtrl.Param.Byte[8]; // WP_EVENT-Channel-Value |
| FromNC_AltitudeSpeed = FromNaviCtrl.Param.Byte[9]; |
| FromNC_AltitudeSetpoint = (long) FromNaviCtrl.Param.sInt[5] * 10; // in cm |
| DebugOut.Analog[16] = FromNC_AltitudeSpeed; |
| DebugOut.Analog[17] = FromNC_AltitudeSetpoint; |
| DebugOut.Analog[24] = SollHoehe/5; |
| break; |
| // 0 = 0,1 |
| /trunk/uart.c |
|---|
| 96,8 → 96,8 |
| "Motor 2 ", |
| "Motor 3 ", |
| "Motor 4 ", //15 |
| "*AltSpeed ", |
| "*AltSet ", |
| " ", |
| " ", |
| "*Fusion ", |
| "*CompSollIstDiff", |
| "Servo ", //20 |