| 57,6 → 57,18 |
|---|
| #include "mymath.h" |
| #include "isqrt.h" |
| |
| #ifdef NODISPLAY // main.h |
| |
| |
| |
| #endif |
| unsigned char loop1, loop2, loop3, loop4; |
| int keynumber=-7; |
| |
| |
| unsigned char pos1, pos2, pos3, pos4=0; |
| unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7; |
| unsigned char updatemotors=5; |
| unsigned char h,m,s; |
| unsigned int BaroExpandActive = 0; |
| int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| 1700,9 → 1712,40 |
|---|
| else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
| else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
| |
| if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
| else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
| |
| |
| |
| |
| if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
| // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
| // Arthur P: the original code allowed the motor value to drop to 0 or negative values |
| // straight off, i.e. could amplify an intended decrease excessively while upregulation |
| // is dampened. The modification would still allow immediate drop below intended value |
| // but would dampen this. This would still allow for airbraking of the prop to have effect |
| // but it might lead to less sudden excessive drops in rpm with only gradual recovery. |
| // 090807 Arthur P: Due to problems with uart.c which still refers to user parameter 1 and 2 and |
| // possible timing issues with the shutter interval load, removed the shutter interval functions |
| // and switched to use of userparam6 for the motor smoothing. |
| // 091114 Inserted modification into 0.76g source code. |
| // 20100804 Modified v.0.80d code where motorsmoothing is no longer a separate function. |
| // Downsmoothing either uses default v.0.7x+ 150% downstep (user para 7 == 0), |
| // 50% downstep (user para 7 == 1 or 2), or downsteps of x% (userpara7 ==): |
| // 66.6% (3), 75% (4), 80% (5), 90% (10), 95% (20), 97.5% (40), 98% (50), 99% (100). |
| else |
| { |
| if(Parameter_UserParam7 < 2) |
| { // Original function |
| tmp_int = 2 * tmp_int - tmp_motorwert[i]; |
| } |
| else |
| { |
| // If userpara7 >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
| tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/Parameter_UserParam7); |
| } |
| } |
| |
| |
| |
| LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
| Motor[i].SetPoint = tmp_int / 4; |
| Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |