| 1046,6 → 1046,7 |
|---|
| //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
| //DebugOut.Analog[18] = (int)FromNaviCtrl_Value.OsdBar; |
| DebugOut.Analog[19] = WinkelOut.CalcState; |
| DebugOut.Analog[20] = ServoValue; |
| |
| DebugOut.Analog[30] = GPS_Nick; |
| DebugOut.Analog[31] = GPS_Roll; |
| 1088,6 → 1089,9 |
|---|
| else MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| MesswertGier = MesswertGier * (2 * GyroFaktor) + Integral_Gier * IntegralFaktor / 2; |
| |
| DebugOut.Analog[21] = MesswertNick; |
| DebugOut.Analog[22] = MesswertRoll; |
| |
| // Maximalwerte abfangen |
| #define MAX_SENSOR 2048 |
| if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| 1173,7 → 1177,6 |
|---|
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - StickNick; // I-Anteil bei Winkelregelung |
| |
| else SummeNick += DiffNick; // I-Anteil bei HH |
| if(SummeNick > 16000) SummeNick = 16000; |
| if(SummeNick < -16000) SummeNick = -16000; |
| 1199,7 → 1202,6 |
|---|
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - StickRoll;// I-Anteil bei Winkelregelung |
| |
| else SummeRoll += DiffRoll; // I-Anteil bei HH |
| if(SummeRoll > 16000) SummeRoll = 16000; |
| if(SummeRoll < -16000) SummeRoll = -16000; |