200,7 → 200,6 |
HoeheD = 0; |
Mess_Integral_Hoch = 0; |
KompassStartwert = KompassValue; |
GPS_Neutral(); |
beeptime = 50; |
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
432,7 → 431,7 |
|
Mittelwert(); |
|
GRN_ON; |
//GRN_ON; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gaswert ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
496,7 → 495,7 |
{ |
if(++delay_neutral > 200) // nicht sofort |
{ |
GRN_OFF; |
//GRN_OFF; |
MotorenEin = 0; |
delay_neutral = 0; |
modell_fliegt = 0; |
912,12 → 911,26 |
KompassStartwert = KompassValue; |
NeueKompassRichtungMerken = 0; |
} |
Mess_Integral_Gier += (KompassRichtung *Parameter_KompassWirkung); // nach Kompass ausrichten |
Mess_Integral_Gier += (KompassRichtung * Parameter_KompassWirkung); // nach Kompass ausrichten |
} |
else beeptime = 50; |
} |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// GPS |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
{ |
GPS_P_Factor = Parameter_UserParam5; |
GPS_D_Factor = Parameter_UserParam6; |
GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
} |
else |
{ |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Debugwerte zuordnen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
942,9 → 955,10 |
DebugOut.Analog[14] = Motor_Links; |
DebugOut.Analog[15] = Motor_Rechts; |
DebugOut.Analog[16] = Mittelwert_AccHoch; |
|
DebugOut.Analog[17] = Parameter_UserParam5; |
DebugOut.Analog[18] = Parameter_UserParam6; |
/* |
DebugOut.Analog[17] = IntegralAccNick / 26; |
DebugOut.Analog[18] = IntegralAccRoll / 26; |
DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
DebugOut.Analog[21] = MittelIntegralNick / 26; |