| 107,8 → 107,8 |
|---|
| SetSum = 0; |
| NumOfMotors = 0; |
| MinOfMaxPWM = 255; |
| if(Capacity.MinOfMaxPWM == 254) FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE; |
| else if(Capacity.MinOfMaxPWM == 255) FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE; |
| if(Capacity.MinOfMaxPWM == 254) FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_AKTIVE; |
| // else if(Capacity.MinOfMaxPWM == 255) FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_AKTIVE; |
| |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| 121,7 → 121,9 |
|---|
| } |
| else Current += (unsigned int)(Motor[i].Current); |
| SetSum += (unsigned int)(Motor[i].SetPoint); |
| if(Motor[i].MaxPWM <= MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; else FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE; |
| if(Motor[i].MaxPWM <= MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; |
| else |
| if(Motor[i].MaxPWM == 255) FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_AKTIVE; |
| } |
| } |
| Capacity.MinOfMaxPWM = MinOfMaxPWM; |
| 133,6 → 135,7 |
|---|
| SumCurrentOffset += Current; |
| // after averaging set current to static offset |
| Current = FC_OFFSET_CURRENT; |
| FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_AKTIVE; |
| } |
| else // some motors are running, includes also motor test condition, where "MotorRunning" is false |
| { // subtract offset |