• MikroKopter.de
• Wiki
• SHOP
• Datenschutz
• Impressum

FlightCtrlBL-CtrlMK3MagNaviCtrlProjects

Català-Valencià – Catalan中文 – Chinese (Simplified)中文 – Chinese (Traditional)Česky – CzechDansk – DanishNederlands – DutchEnglish – EnglishSuomi – FinnishFrançais – FrenchDeutsch – Germanעברית – Hebrewहिंदी – HindiMagyar – HungarianBahasa Indonesia – IndonesianItaliano – Italian日本語 – Japanese한국어 – KoreanМакедонски – Macedonianमराठी – MarathiNorsk – NorwegianPolski – PolishPortuguês – PortuguesePortuguês – Portuguese (Brazil)Русский – RussianSlovenčina – SlovakSlovenščina – SlovenianEspañol – SpanishSvenska – SwedishTürkçe – TurkishУкраїнська – UkrainianOëzbekcha – Uzbek

Compare Revisions

• This comparison shows the changes necessary to convert path

  → /branches/dongfang_FC_rewrite/H_and_I_AxisCoupling.txt @ 1612

  → /branches/dongfang_FC_rewrite/H_and_I_AxisCoupling.txt @ 1645

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 1612 → Rev 1645

/branches/dongfang_FC_rewrite/H_and_I_AxisCoupling.txt
68,9 → 68,9
if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / CONTROL_SCALING);
MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / CONTROL_SCALING);
MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / CONTROL_SCALING) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / CONTROL_SCALING));
messwertNick er nu P-part....