| 168,15 → 168,15 |
|---|
| LastAltitude = CurrentAltitude; |
| } |
| AirPressureCnt++; |
| |
| |
| //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
| { |
| Roll_X_Offset = 0.9995F * Roll_X_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_X))); |
| Roll_Y_Offset = 0.9995F * Roll_Y_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_Y))); |
| Roll_X_Offset = 0.9995F * Roll_X_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_X))); |
| Roll_Y_Offset = 0.9995F * Roll_Y_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_Y))); |
| |
| if (abs(StickGier) < 15 || MotorenEin == 0) |
| { |
| Roll_Z_Offset = 0.9998F * Roll_Z_Offset + 0.0002F * (float) ( MAX(-60, MIN(60,AverageRoll_Z))); |
| Roll_Z_Offset = 0.9998F * Roll_Z_Offset + 0.0002F * (float) ( MAX(-60, MIN(60,AverageRoll_Z))); |
| } |
| } |
| |
| 419,7 → 419,6 |
|---|
| int motorwert = 0; |
| int pd_ergebnis; |
| |
| |
| /***************************************************************************** |
| Update noimial attitude |
| **************************************************************************** */ |
| 474,6 → 473,7 |
|---|
| |
| //DebugOut.Analog[13] = (int) GasMischanteil; |
| |
| #ifdef X_FORMATION |
| /* Overide in case the remote link got lost */ |
| if (RemoteLinkLost == 0) |
| { /* We are flying in X-Formation */ |
| 486,6 → 486,21 |
|---|
| StickNick45 = (int) (0.707F * (float)(-GPS_Roll) + 0.707F * (float)(-GPS_Nick)); |
| StickGier = 0; |
| } |
| #else |
| /* Overide in case the remote link got lost */ |
| if (RemoteLinkLost == 0) |
| { /* We are flying in X-Formation */ |
| StickRoll45 = StickRoll - GPS_Roll; |
| StickNick45 = StickNick - GPS_Nick; |
| } |
| else |
| { /* GPS overide is aktive */ |
| StickRoll45 = -GPS_Roll; |
| StickNick45 = -GPS_Nick; |
| StickGier = 0; |
| } |
| #endif |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Yaw |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |