| /trunk/GPS.c |
|---|
| 8,25 → 8,9 |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| signed int GPS_Nick2 = 0; |
| signed int GPS_Roll2 = 0; |
| long GpsAktuell_X = 0; |
| long GpsAktuell_Y = 0; |
| long GpsZiel_X = 0; |
| long GpsZiel_Y = 0; |
| unsigned char GPS_AidMode = 0; |
| void GPS_Neutral(void) |
| { |
| GpsZiel_X = GpsAktuell_X; |
| GpsZiel_Y = GpsAktuell_Y; |
| } |
| void GPS_BerechneZielrichtung(void) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| /trunk/fc.c |
|---|
| 334,7 → 334,6 |
| Mess_Integral_Hoch = 0; |
| KompassSollWert = KompassValue; |
| KompassSignalSchlecht = 100; |
| GPS_Neutral(); |
| beeptime = 50; |
| Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
| 844,10 → 843,13 |
| if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| { |
| static int stick_nick,stick_roll; |
| unsigned char stick_p; |
| ParameterZuordnung(); |
| stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| stick_p = EE_Parameter.Stick_P; |
| stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
| stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
| stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 873,8 → 875,10 |
| if(StickGier > 4) StickGier -= 4; else |
| if(StickGier < -4) StickGier += 4; else StickGier = 0; |
| StickNick -= (GPS_Nick + GPS_Nick2); |
| StickRoll -= (GPS_Roll + GPS_Roll2); |
| if(GPS_AidMode) { StickNick /= 2; StickRoll /= 2; };// in that case the GPS controls stronger |
| StickNick -= GPS_Nick; |
| StickRoll -= GPS_Roll; |
| StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| GyroFaktor = (Parameter_Gyro_P + 10.0); |
| /trunk/fc.h |
|---|
| 94,7 → 94,6 |
| extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| extern char VarioCharacter; |
| extern int HoverGas; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| /trunk/gps.h |
|---|
| 1,7 → 1,3 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern signed int GPS_Nick2; |
| extern signed int GPS_Roll2; |
| void GPS_Neutral(void); |
| void GPS_BerechneZielrichtung(void); |
| extern unsigned char GPS_AidMode; |
| /trunk/led.c |
|---|
| 54,7 → 54,7 |
| else |
| if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing > 220)) {if(J16Bitmask & 128) J16_ON; else J16_OFF;} |
| else |
| if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing < 10)) {if(J16Bitmask & 128) J16_OFF; else J16_ON;} |
| if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing < 5)) {if(J16Bitmask & 128) J16_OFF; else J16_ON;} |
| else |
| if(!J16Blinkcount--) |
| { |
| 77,7 → 77,7 |
| else |
| if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing > 220)) {if(J17Bitmask & 128) J17_ON; else J17_OFF;} |
| else |
| if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing < 10)) {if(J17Bitmask & 128) J17_OFF; else J17_ON;} |
| if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing < 5)) {if(J17Bitmask & 128) J17_OFF; else J17_ON;} |
| else |
| if(!J17Blinkcount--) |
| { |
| /trunk/libfc1284.a |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /trunk/main.c |
|---|
| 358,6 → 358,7 |
| } |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| GPS_AidMode = 0; |
| //if(!beeptime) |
| FromNaviCtrl.CompassValue = -1; |
| NaviDataOkay = 0; |
| /trunk/spi.c |
|---|
| 293,7 → 293,7 |
| KompassRichtung = ((540 + KompassValue - KompassSollWert) % 360) - 180; |
| if(FromNaviCtrl.BeepTime > beeptime /*&& !WinkelOut.CalcState*/) beeptime = FromNaviCtrl.BeepTime; |
| #define FLAG_GPS_AID 0x01 |
| switch (FromNaviCtrl.Command) |
| { |
| case SPI_NCCMD_KALMAN: |
| 304,7 → 304,8 |
| FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
| FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
| FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
| if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
| if(FromNaviCtrl.Param.Byte[7] & FLAG_GPS_AID) GPS_AidMode = 1; else GPS_AidMode = 0; |
| if(CareFree && FromNaviCtrl.Param.sInt[4] >= 0) |
| { |
| KompassSollWert = FromNaviCtrl.Param.sInt[4]; // bei Carefree kann NC den Kompass-Sollwinkel vorgeben |
| if(EE_Parameter.CamOrientation) // Kamera angle is not front |
| /trunk/version.txt |
|---|
| 458,6 → 458,10 |
| - Kanaloffset für Potis von 110 auf 127 erhöht, damit es gleich ist mit allen anderen Kanälen |
| - POI-Richtung (Soll-Himmelsrichtung) bezieht sich auf den Kamera-Winkel |
| 0.85 H.Buss |
| - LED-Schalter-Schwellwert von 10 auf 5 gesenkt |
| - Variable "JetiBeep" wird gelöscht, wenn an den Empfänger gesendet wurde |