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Ignore whitespace Rev 2731 → Rev 2732

 /trunk/eeprom.c
 ,6 → 131,12
   {
    EE_Parameter.FailsSafeAltitude = EE_Parameter.ComingHomeAltitude;
   }
+ if(old_version <= 111)
+  {
+   EE_Parameter.GimbalYawChannel = 0;
+  }
  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 }
 ,7 → 298,8
         EE_Parameter.SingleWpControlChannel = 0;
         EE_Parameter.MenuKeyChannel = 0;
         EE_Parameter.CamCtrlModeChannel = 0;
-    EE_Parameter.CamCtrlZoomChannel = 0;
+    EE_Parameter.CamCtrlZoomChannel = 0;
+    EE_Parameter.GimbalYawChannel = 0;
         for(i=0; i < sizeof(EE_Parameter.reserved); i++) EE_Parameter.reserved[i] = 0;
 }

 /trunk/eeprom.h
 ,7 → 4,7
 #include <inttypes.h>
 #include "twimaster.h"
-#define EEPARAM_REVISION        111 // -> InsertDefaultParameters()
+#define EEPARAM_REVISION        112 // -> InsertDefaultParameters()
 #define EEMIXER_REVISION        1       // is count up, if mixer stucture has changed (compatibility)
 #define EE_BACKWARD_COMP        1   // count up if the eepropm parameters are not backwards compatible
 ,7 → 278,8
     unsigned char CamCtrlModeChannel;
     unsigned char CamCtrlZoomChannel;
     unsigned char FailsSafeAltitude;
-        unsigned char reserved[31];       // for later use
+    unsigned char GimbalYawChannel;
+        unsigned char reserved[30];       // for later use
         //------------------------------------------------
         unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
         unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll, 0x04 = relative moving // WICHTIG!!! am Ende lassen

 /trunk/fc.c
 ,8 → 118,8
 int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0;
 //float Ki =  FAKTOR_I;
 int Ki = 10300 / 33;
-unsigned char Looping_Nick = 0,Looping_Roll = 0;
-unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
+//unsigned char Looping_Nick = 0,Looping_Roll = 0;
+//unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
 unsigned char Parameter_Luftdruck_D  = 48;      // Wert : 0-250
 unsigned char Parameter_HoehenSchalter = 0;     // Wert : 0-250
 ,7 → 604,7
    Mess_Integral_Gier += MesswertGier;
    ErsatzKompass += MesswertGier;
 // Kopplungsanteil  +++++++++++++++++++++++++++++++++++++
-      if(!Looping_Nick && !Looping_Roll)
+//      if(!Looping_Nick && !Looping_Roll)
          {
             tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
             tmpl3 *= Parameter_AchsKopplung2; //65
 ,7 → 627,7
             if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1;
             //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
          }
-      else  tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
+//      else  tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
                         TrimRoll = tmpl - tmpl2 / 100L;
                         TrimNick = -tmpl2 + tmpl / 100L;
 // Kompasswert begrenzen  ++++++++++++++++++++++++++++++++++++++++++++++++
 ,7 → 696,7
  if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
  else                    TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
-  if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
+  if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER)
   {
     if(RohMesswertNick > 256)       MesswertNick += 1 * (RohMesswertNick - 256);
     else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
 ,54 → 1428,8
      }
      else MaxStickRoll--;
     if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)  {MaxStickNick = 0; MaxStickRoll = 0;}
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// Looping?
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS)  Looping_Links = 1;
-  else
-   {
-     {
-      if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0;
-     }
-   }
-  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1;
-   else
-   {
-   if(Looping_Rechts) // Hysterese
-     {
-      if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0;
-     }
-   }
-  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1;
-  else
-   {
-    if(Looping_Oben)  // Hysterese
-     {
-      if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0;
-     }
-   }
-  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1;
-   else
-   {
-    if(Looping_Unten) // Hysterese
-     {
-      if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0;
-     }
-   }
-   if(Looping_Links || Looping_Rechts)   Looping_Roll = 1; else Looping_Roll = 0;
-   if(Looping_Oben  || Looping_Unten) {  Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0;
   } // Ende neue Funken-Werte
-  if(Looping_Roll || Looping_Nick)
-   {
-    if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
-        TrichterFlug = 1;
-   }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Bei Empfangsausfall im Flug
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 ,8 → 1454,6
      IntegralFaktor = 120;
      GyroFaktorGier     = 90;
      IntegralFaktorGier = 120;
-     Looping_Roll = 0;
-     Looping_Nick = 0;
     }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Integrale auf ACC-Signal abgleichen
 ,17 → 1462,10
  MittelIntegralNick  += IntegralNick;    // Für die Mittelwertbildung aufsummieren
  MittelIntegralRoll  += IntegralRoll;
- if(Looping_Nick || Looping_Roll)
-  {
-    MittelIntegralNick = 0;
-    MittelIntegralRoll = 0;
-    ZaehlMessungen = 0;
-    LageKorrekturNick = 0;
-    LageKorrekturRoll = 0;
-  }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-  if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
+  if((Aktuell_az > 512 || MotorenEin))
   {
    long tmp_long, tmp_long2;
    if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/)
 ,8 → 1634,8
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
   if(TrichterFlug)  { SummeRoll = 0; SummeNick = 0;};
-  if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
-  if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
+  IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) /  (44000 / STICK_GAIN);
+  IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) /  (44000 / STICK_GAIN);
 #define TRIM_MAX 200
  if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else  if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
 ,7 → 1700,7
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
   GasMischanteil *= STICK_GAIN;
 // if height control is activated
- if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick) && !(VersionInfo.HardwareError[0] & 0x7F))  // Höhenregelung
+ if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(VersionInfo.HardwareError[0] & 0x7F))  // Höhenregelung
         {
                 #define HOVER_GAS_AVERAGE 16384L                // 16384 * 2ms = 32s averaging
                 #define HC_GAS_AVERAGE 4                        // 4 * 2ms= 8ms averaging

/trunk/libfc1284.a
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream

 /trunk/makefile
 ,11 → 5,11
 F_CPU = 20000000
 #-------------------------------------------------------------------
 VERSION_MAJOR    =   2
-VERSION_MINOR    =  17
-VERSION_PATCH    =  3
+VERSION_MINOR    =  19
+VERSION_PATCH    =  5
 VERSION_SERIAL_MAJOR = 11       # Serial Protocol to KopterTool -> do not change!
 VERSION_SERIAL_MINOR = 0        # Serial Protocol
-NC_SPI_COMPATIBLE = 85          # Navi-Kompatibilität
+NC_SPI_COMPATIBLE = 90          # Navi-Kompatibilität
 LIB_FC_COMPATIBLE = 8       # Library
 #-------------------------------------------------------------------
 # ATMEGA644: 63487 is maximum

 /trunk/version.txt
 ,6 → 907,13
  - SPI -> Block to FC now 2 bytes longer and unused FCStatus removed
  - Send HoTT_Statustext to NC
  - NC also beeps if the transmitter was not switched on
+ - variable baudrate on NC - up to 256000Bd
+ - new Parameter: FailsafeAltitude for RC-Lost
+.19f (01.11.2017)
+ - new Parameter: GimbalYawChannel
+ - Looping sources deleted
 toDo:

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Ignore whitespace Rev 2731 → Rev 2732