| 1491,17 → 1491,6 |
|---|
| LIMIT_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // all BL-Ctrl connected? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(MissingMotor) |
| { |
| // if we are in the lift off condition |
| if( (ModelIsFlying > 1) && (ModelIsFlying < 50) && (StickGas > 0) ) |
| ModelIsFlying = 1; // keep within lift off condition |
| StickGas = ParamSet.GasMin; // reduce gas to min to avoid lift of |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Height Control |
| // The height control algorithm reduces the gas but does not increase the gas. |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1774,6 → 1763,16 |
|---|
| // limit gas to parameter setting |
| LIMIT_MIN_MAX(GasMixFraction, (ParamSet.GasMin + 10) * STICK_GAIN, (ParamSet.GasMax - 20) * STICK_GAIN); |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // all BL-Ctrl connected? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(MissingMotor) |
| { |
| // if we are in the lift off condition |
| if( (ModelIsFlying > 1) && (ModelIsFlying < 50) && (GasMixFraction > 0) ) |
| ModelIsFlying = 1; // keep within lift off condition |
| GasMixFraction = ParamSet.GasMin * STICK_GAIN; // reduce gas to min to avoid lift of |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mixer and PI-Controller |