WebSVN - FlightCtrl - Path Comparison - /branches/V0.63_LED1_LED2 Rev 211 and /branches/V0.63_LED1

Ignore whitespace Rev 211 → Rev 212

 /branches/V0.63_LED1_LED2/Hex-Files/Flight-Ctrl_MEGA644_V0_63_LED1_LED2.hex
 ,0 → 1,1466
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 /branches/V0.63_LED1_LED2/Readme.txt
 ,0 → 1,17
+Diese Version basiert auf V0.63
+Sie ist erweitert, um mit der Graupner MX12 mit den beiden linken Schaltern (Flap & Elev D/R) die 2 LED Kanäle der Flight-Crtl schalten zu können.
+LED1 wird ein-und ausgeschaltet, LED2 ist als schaltbares Blitzlicht realisiert.
+Die MX12 wird folgendermaßen eingestellt:
+Flap System: Flap up 100%, Elev 0%
+Mixer1: Fla->Fla Offset -100 +50% SW Elev D/R
+Damit wird auf Kanal 6 folgendes ausgegeben:
+Beide Schalter aus      0%
+Elev D/R ein            50%
+Flap ein                100%
+Beide ein               150%
+Die Flight_Ctrl macht daraus die Werte 0, 64, 128, 192
+(Funktion PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]])
+Es werden die Beriche   <32, 32-96, 96-150 und > 150 ausgewertet.
+Erst wenn 10 gleiche Bereiche hintereinander erkannt wurden, werden die LEDs ein- oder ausgeschaltet.
+Hierdurch wird eine erhöhte Störsicherheit durch kurzzeitigen Senderausfall erreicht.
+Die Änderungen befinden sich im wesentlichen in fc.c in den Zeilen 595-606.

 /branches/V0.63_LED1_LED2/fc.c
 ,14 → 6,14
 // + Nur für den privaten Gebrauch
 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
-// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
-// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
-// + bzgl. der Nutzungsbedingungen aufzunehmen.
+// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
+// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
+// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
+// + bzgl. der Nutzungsbedingungen aufzunehmen.
 // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
 // + Verkauf von Luftbildaufnahmen, usw.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
+// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
 // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
 ,21 → 24,21
 // + Benutzung auf eigene Gefahr
 // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
+// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
 // + mit unserer Zustimmung zulässig
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
+// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
 // + this list of conditions and the following disclaimer.
 // +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
 // +     from this software without specific prior written permission.
-// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
+// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
 // +     for non-commercial use (directly or indirectly)
-// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
+// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
 // +     with our written permission
-// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
-// +     clearly linked as origin
+// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
+// +     clearly linked as origin
 // +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
 // +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 // +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 ,7 → 50,7
 // +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 // +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 // +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-// +  POSSIBILITY OF SUCH DAMAGE.
+// +  POSSIBILITY OF SUCH DAMAGE.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #include "main.h"
 ,12 → 75,19
 unsigned char MAX_GAS,MIN_GAS;
 unsigned char Notlandung = 0;
 unsigned char HoehenReglerAktiv = 0;
+//-------HF-------
+unsigned char LED_Switch = 0;
+unsigned char LED_flash  = 0;
+unsigned char LED_1  = 0;
+unsigned char LED_2  = 0;
+unsigned char LED_2on  = 0;
+//-------HF-------
 float GyroFaktor;
 float IntegralFaktor;
 volatile int  DiffNick,DiffRoll;
-int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
+int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
 volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
 unsigned char MotorWert[5];
 volatile unsigned char SenderOkay = 0;
 ,42 → 133,42
 //############################################################################
 {
     unsigned int timer;
-        NeutralAccX = 0;
+        NeutralAccX = 0;
         NeutralAccY = 0;
         NeutralAccZ = 0;
-    AdNeutralNick = 0;
-        AdNeutralRoll = 0;
+    AdNeutralNick = 0;
+        AdNeutralRoll = 0;
         AdNeutralGier = 0;
-    CalibrierMittelwert();
-    timer = SetDelay(5);
+    CalibrierMittelwert();
+    timer = SetDelay(5);
         while (!CheckDelay(timer));
         CalibrierMittelwert();
     if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
-     {
+     {
       if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
      }
-    if(PlatinenVersion == 10)
+    if(PlatinenVersion == 10)
     {
-     AdNeutralNick= abs(MesswertNick);
-         AdNeutralRoll= abs(MesswertRoll);
+     AdNeutralNick= abs(MesswertNick);
+         AdNeutralRoll= abs(MesswertRoll);
          AdNeutralGier= abs(MesswertGier);
-    }
-    else
+    }
+    else
     {
-     AdNeutralNick= abs(MesswertNick) / 2;
-         AdNeutralRoll= abs(MesswertRoll) / 2;
+     AdNeutralNick= abs(MesswertNick) / 2;
+         AdNeutralRoll= abs(MesswertRoll) / 2;
          AdNeutralGier= abs(MesswertGier) / 2;
-    }
+    }
     NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY;
         NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY;
         NeutralAccZ = Aktuell_az;
-        Mess_IntegralNick = 0;
+        Mess_IntegralNick = 0;
     Mess_IntegralNick2 = 0;
-    Mess_IntegralRoll = 0;
+    Mess_IntegralRoll = 0;
     Mess_IntegralRoll2 = 0;
-    Mess_Integral_Gier = 0;
+    Mess_Integral_Gier = 0;
     MesswertNick = 0;
     MesswertRoll = 0;
     MesswertGier = 0;
 ,7 → 177,7
     Mess_Integral_Hoch = 0;
     KompassStartwert = KompassValue;
     GPS_Neutral();
-    beeptime = 50;
+    beeptime = 50;
 }
 //############################################################################
 ,7 → 184,7
 // Bildet den Mittelwert aus den Messwerten
 void Mittelwert(void)
 //############################################################################
-{
+{
     // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
     ANALOG_OFF;
         if(MessanzahlNick)    (MesswertNick = AccumulateNick / MessanzahlNick);
 ,19 → 203,19
 //    Integral_Gier2 = Mess_Integral_Gier2;
     IntegralNick = Mess_IntegralNick;
     IntegralRoll = Mess_IntegralRoll;
-    IntegralNick2 = Mess_IntegralNick2;
+    IntegralNick2 = Mess_IntegralNick2;
     IntegralRoll2 = Mess_IntegralRoll2;
     // ADC einschalten
-    ANALOG_ON;
+    ANALOG_ON;
 /*
 //------------------------------------------------------------------------------
     if(MesswertNick > 200)  MesswertNick += 4 * (MesswertNick - 200);
-    else
-    if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200);
+    else
+    if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200);
     if(MesswertRoll > 200)  MesswertRoll += 4 * (MesswertRoll - 200);
-    else
-    if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200);
+    else
+    if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200);
 //------------------------------------------------------------------------------
 */
     if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--;
 ,7 → 232,7
 // Messwerte beim Ermitteln der Nullage
 void CalibrierMittelwert(void)
 //############################################################################
-{
+{
     // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
         ANALOG_OFF;
     if(MessanzahlNick)    (MesswertNick = AccumulateNick / MessanzahlNick);
 ,7 → 248,7
     accumulate_AccNick = 0;messanzahl_AccNick = 0;
     accumulate_AccHoch = 0;messanzahl_AccHoch = 0;
     // ADC einschalten
-    ANALOG_ON;
+    ANALOG_ON;
     if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--;
     if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--;
     if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--;
 ,7 → 263,7
 // Senden der Motorwerte per I2C-Bus
 void SendMotorData(void)
 //############################################################################
-{
+{
     if(MOTOR_OFF || !MotorenEin)
         {
         Motor_Hinten = 0;
 ,16 → 279,16
     DebugOut.Analog[12] = Motor_Vorne;
     DebugOut.Analog[13] = Motor_Hinten;
     DebugOut.Analog[14] = Motor_Links;
-    DebugOut.Analog[15] = Motor_Rechts;
+    DebugOut.Analog[15] = Motor_Rechts;
     //Start I2C Interrupt Mode
     twi_state = 0;
     motor = 0;
-    i2c_start();
+    i2c_start();
 }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Konstanten
+// + Konstanten
 // + 0-250 -> normale Werte
 // + 251 -> Poti1
 // + 252 -> Poti2
 ,15 → 296,15
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 void DefaultKonstanten1(void)
 {
- EE_Parameter.Kanalbelegung[K_NICK]  = 1;
+ EE_Parameter.Kanalbelegung[K_NICK]  = 3;
  EE_Parameter.Kanalbelegung[K_ROLL]  = 2;
- EE_Parameter.Kanalbelegung[K_GAS]   = 3;
+ EE_Parameter.Kanalbelegung[K_GAS]   = 1;
  EE_Parameter.Kanalbelegung[K_GIER]  = 4;
  EE_Parameter.Kanalbelegung[K_POTI1] = 5;
  EE_Parameter.Kanalbelegung[K_POTI2] = 6;
  EE_Parameter.Kanalbelegung[K_POTI3] = 7;
  EE_Parameter.Kanalbelegung[K_POTI4] = 8;
- EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01;
+ EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01;
  EE_Parameter.Hoehe_MinGas = 30;
  EE_Parameter.MaxHoehe     = 251;      // Wert : 0-32   251 -> Poti1
  EE_Parameter.Hoehe_P      = 10;       // Wert : 0-32
 ,20 → 338,20
  EE_Parameter.LoopGasLimit = 50;
  EE_Parameter.LoopThreshold = 90;         // Wert: 0-250  Schwelle für Stickausschlag
  EE_Parameter.LoopConfig = 0;             // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
- memcpy(EE_Parameter.Name, "Sport\0", 12);
+ memcpy(EE_Parameter.Name, "Sport\0", 12);
 }
 void DefaultKonstanten2(void)
 {
- EE_Parameter.Kanalbelegung[K_NICK]  = 1;
+ EE_Parameter.Kanalbelegung[K_NICK]  = 3;
  EE_Parameter.Kanalbelegung[K_ROLL]  = 2;
- EE_Parameter.Kanalbelegung[K_GAS]   = 3;
+ EE_Parameter.Kanalbelegung[K_GAS]   = 1;
  EE_Parameter.Kanalbelegung[K_GIER]  = 4;
  EE_Parameter.Kanalbelegung[K_POTI1] = 5;
  EE_Parameter.Kanalbelegung[K_POTI2] = 6;
  EE_Parameter.Kanalbelegung[K_POTI3] = 7;
  EE_Parameter.Kanalbelegung[K_POTI4] = 8;
- EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01;
+ EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01;
  EE_Parameter.Hoehe_MinGas = 30;
  EE_Parameter.MaxHoehe     = 251;     // Wert : 0-32   251 -> Poti1
  EE_Parameter.Hoehe_P      = 10;      // Wert : 0-32
 ,14 → 384,14
  EE_Parameter.ServoNickRefresh = 5;
  EE_Parameter.LoopGasLimit = 50;
  EE_Parameter.LoopThreshold = 90;         // Wert: 0-250  Schwelle für Stickausschlag
- EE_Parameter.LoopConfig = 0;              // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts
- memcpy(EE_Parameter.Name, "Kamera\0", 12);
+ EE_Parameter.LoopConfig = 0;              // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts
+ memcpy(EE_Parameter.Name, "Kamera\0", 12);
 }
 //############################################################################
 // Trägt ggf. das Poti als Parameter ein
-void ParameterZuordnung(void)
+void ParameterZuordnung(void)
 //############################################################################
 {
 ,11 → 403,11
  CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255);
  CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
  CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255);
- CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255);
- CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255);
- CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255);
- CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255);
- CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255);
+ CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255);
+ CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255);
+ CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255);
+ CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255);
+ CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255);
  CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
  CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
  CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
 ,34 → 437,34
      static int hoehenregler = 0;
      static char TimerWerteausgabe = 0;
      static char NeueKompassRichtungMerken = 0;
-        Mittelwert();
+        Mittelwert();
     GRN_ON;
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Gaswert ermitteln
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
         GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120;
     if(GasMischanteil < 0) GasMischanteil = 0;
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Emfang schlecht
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    if(SenderOkay < 100)
         {
-        if(!PcZugriff)
+        if(!PcZugriff)
          {
-           if(BeepMuster == 0xffff)
-            {
+           if(BeepMuster == 0xffff)
+            {
              beeptime = 15000;
              BeepMuster = 0x0c00;
-            }
+            }
          }
-        if(RcLostTimer) RcLostTimer--;
-        else
+        if(RcLostTimer) RcLostTimer--;
+        else
          {
           MotorenEin = 0;
           Notlandung = 0;
-         }
+         }
         ROT_ON;
         if(modell_fliegt > 2000)  // wahrscheinlich in der Luft --> langsam absenken
             {
 ,10 → 476,10
             }
          else MotorenEin = 0;
         }
-        else
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+        else
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Emfang gut
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
         if(SenderOkay > 140)
             {
             Notlandung = 0;
 ,14 → 492,14
                 {
                 SummeNick = 0;
                 SummeRoll = 0;
-                Mess_Integral_Gier = 0;
+                Mess_Integral_Gier = 0;
                 Mess_Integral_Gier2 = 0;
                 }
             if((GasMischanteil > 200) && MotorenEin == 0)
                 {
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // auf Nullwerte kalibrieren
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                 if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)  // Neutralwerte
                     {
                     unsigned char setting;
 ,25 → 521,25
                         if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
                           {
                              if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
-                          }
+                          }
                             ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
                         SetNeutral();
                         Piep(GetActiveParamSetNumber());
-                        }
+                        }
                     }
                  else delay_neutral = 0;
                 }
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Gas ist unten
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
             if(GasMischanteil < 35)
                 {
                 // Starten
                 if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)
                     {
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Einschalten
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                     if(++delay_einschalten > 200)
                         {
                         delay_einschalten = 200;
 ,7 → 546,7
                         modell_fliegt = 1;
                         MotorenEin = 1;
                         sollGier = 0;
-                        Mess_Integral_Gier = 0;
+                        Mess_Integral_Gier = 0;
                         Mess_Integral_Gier2 = 0;
                         Mess_IntegralNick = 0;
                         Mess_IntegralRoll = 0;
 ,13 → 554,13
                         Mess_IntegralRoll2 = IntegralRoll;
                         SummeNick = 0;
                         SummeRoll = 0;
-                        }
-                    }
+                        }
+                    }
                     else delay_einschalten = 0;
                 //Auf Neutralwerte setzen
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Auschalten
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                 if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)
                     {
                     if(++delay_ausschalten > 200)  // nicht sofort
 ,19 → 568,19
                         MotorenEin = 0;
                         delay_ausschalten = 200;
                         modell_fliegt = 0;
-                        }
+                        }
                     }
                 else delay_ausschalten = 0;
                 }
             }
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // neue Werte von der Funke
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- if(!NewPpmData-- || Notlandung)
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ if(!NewPpmData-- || Notlandung)
   {
     ParameterZuordnung();
-    StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P;
+    StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P;
     StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
     StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P;
     StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
 ,59 → 591,73
     if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
     if(GyroFaktor < 0) GyroFaktor = 0;
     if(IntegralFaktor < 0) IntegralFaktor = 0;
+    //------HF------- LEDs Schalten - LED1 Normal, LED2 Blitzlicht
+        LED_Switch = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]];
+        if (((LED_Switch > 32) & (LED_Switch < 96)) | (LED_Switch > 160)) LED_2++; else if (LED_2 > 0) LED_2--;
+        if ((LED_Switch > 96)) LED_1++; else if (LED_1 > 0) LED_1--;
+        if (LED_1 >= 10) {LED_1 = 10; LED1_ON;}
+    if (LED_1 <=  1) LED1_OFF;
+        if (LED_2 >= 10) {LED_2 = 10; LED_2on = 1;}
+        if (LED_2 <=  1) LED_2on = 0;
+        if (LED_2on  ==  1) LED_flash++;
+        if (LED_flash > 77) LED2_ON; else LED2_OFF;
+        if (LED_flash > 80) LED_flash = 0;
+        //------HF------- End LEDs Schalten
     // greift in den Stick ein, um ungewolltes überschlagen zu verhindern
     if(!(EE_Parameter.LoopConfig & CFG_LOOP_LINKS) && !(EE_Parameter.LoopConfig & CFG_LOOP_RECHTS))
      {
-      if(IntegralNick >  60000)
-      {
-       StickNick -=  8 * EE_Parameter.Stick_P;
-       if(IntegralNick >  80000) StickNick -= 16 * EE_Parameter.Stick_P;
-      }
+      if(IntegralNick >  60000)
+      {
+       StickNick -=  8 * EE_Parameter.Stick_P;
+       if(IntegralNick >  80000) StickNick -= 16 * EE_Parameter.Stick_P;
+      }
       else
-      if(IntegralNick < -60000)
+      if(IntegralNick < -60000)
       {
        StickNick += 8 * EE_Parameter.Stick_P;
-       if(IntegralNick >  80000) StickNick -= 16 * EE_Parameter.Stick_P;
-      }
-      if(IntegralRoll >  60000)
-      {
-       StickRoll -=  8 * EE_Parameter.Stick_P;
-       if(IntegralRoll >  80000) StickRoll -= 16 * EE_Parameter.Stick_P;
-      }
+       if(IntegralNick >  80000) StickNick -= 16 * EE_Parameter.Stick_P;
+      }
+      if(IntegralRoll >  60000)
+      {
+       StickRoll -=  8 * EE_Parameter.Stick_P;
+       if(IntegralRoll >  80000) StickRoll -= 16 * EE_Parameter.Stick_P;
+      }
       else
-      if(IntegralRoll < -60000)
+      if(IntegralRoll < -60000)
       {
        StickRoll += 8 * EE_Parameter.Stick_P;
-       if(IntegralRoll >  80000) StickRoll -= 16 * EE_Parameter.Stick_P;
-      }
+       if(IntegralRoll >  80000) StickRoll -= 16 * EE_Parameter.Stick_P;
+      }
      }
   }
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Looping?
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
   if(((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) ||
      ((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS))
-   {
+   {
     Looping_Roll = 1;
     if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
    }
-   else Looping_Roll = 0;
+   else Looping_Roll = 0;
   if(((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) ||
      ((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN))
-   {
+   {
     Looping_Nick = 1;
-    Looping_Roll = 0;
+    Looping_Roll = 0;
     if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
    }
-   else Looping_Nick = 0;
+   else Looping_Nick = 0;
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// Bei Empfangsausfall im Flug
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Bei Empfangsausfall im Flug
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    if(Notlandung)
     {
      StickGier = 0;
 ,10 → 667,10
      IntegralFaktor = 0.005;
      Looping_Roll = 0;
      Looping_Nick = 0;
-    }
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    }
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Gyro-Drift kompensieren
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #define DRIFT_FAKTOR 3
     if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR)
         {
 ,24 → 681,24
         if(IntegralFehlerNick < -500/DRIFT_FAKTOR)  AdNeutralNick--;
         if(IntegralFehlerRoll > 500/DRIFT_FAKTOR)   AdNeutralRoll++;
         if(IntegralFehlerRoll < -500/DRIFT_FAKTOR)  AdNeutralRoll--;
-//        if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR)  AdNeutralGier--;   // macht nur mit Referenz (Kompass Sinn)
-//        if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR)  AdNeutralGier++;   // macht nur mit Referenz (Kompass Sinn)
+//        if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR)  AdNeutralGier--;   // macht nur mit Referenz (Kompass Sinn)
+//        if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR)  AdNeutralGier++;   // macht nur mit Referenz (Kompass Sinn)
     ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
-        Mess_IntegralNick2 = IntegralNick;
+        Mess_IntegralNick2 = IntegralNick;
         Mess_IntegralRoll2 = IntegralRoll;
         Mess_Integral_Gier2 = Integral_Gier;
     ANALOG_ON;  // ADC einschalten
-        }
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+        }
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Integrale auf ACC-Signal abgleichen
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
   if(IntegralFaktor && !Looping_Nick && !Looping_Roll)
   {
     tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
-    if(labs(Mittelwert_AccNick) < 200) tmp_long /= 8;
+    if(labs(Mittelwert_AccNick) < 200) tmp_long /= 8;
     else tmp_long /= 16;
-    tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
-    if(labs(Mittelwert_AccRoll) < 200) tmp_long2 /= 8;
+    tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
+    if(labs(Mittelwert_AccRoll) < 200) tmp_long2 /= 8;
     else tmp_long2 /= 16;
  #define AUSGLEICH 500
 ,7 → 707,7
     if(tmp_long2 > AUSGLEICH)  tmp_long2 = AUSGLEICH;
     if(tmp_long2 <-AUSGLEICH)  tmp_long2 =-AUSGLEICH;
   }
-  else
+  else
   {
    tmp_long = 0;
    tmp_long2 = 0;
 ,26 → 715,26
  ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern
     Mess_IntegralNick -= tmp_long;
     Mess_IntegralRoll -= tmp_long2;
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //  Gieren
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    if(abs(StickGier) > 35)
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    if(abs(StickGier) > 35)
      {
       if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1;
      }
     tmp_int  = EE_Parameter.Gier_P * (StickGier * abs(StickGier)) / 512; // expo  y = ax + bx²
-    tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
+    tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
     sollGier = tmp_int;
-    Mess_Integral_Gier -= tmp_int;
+    Mess_Integral_Gier -= tmp_int;
     if(Mess_Integral_Gier > 25000) Mess_Integral_Gier = 25000;  // begrenzen
     if(Mess_Integral_Gier <-25000) Mess_Integral_Gier =-25000;
  ANALOG_ON;     // ADC einschalten
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //  Kompass
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
      {
        int w,v;
        static int SignalSchlecht = 0;
 ,8 → 741,8
        w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
        v = abs(IntegralRoll /512);
        if(v > w) w = v; // grösste Neigung ermitteln
-       if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht)
-        {
+       if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht)
+        {
          KompassStartwert = KompassValue;
          NeueKompassRichtungMerken = 0;
         }
 ,14 → 754,14
           if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32;  // nach Kompass ausrichten
           ANALOG_ON;  // ADC einschalten
           if(SignalSchlecht) SignalSchlecht--;
-        }
+        }
         else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek
-     }
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+     }
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //  Debugwerte zuordnen
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
   if(!TimerWerteausgabe--)
    {
     TimerWerteausgabe = 49;
 ,17 → 790,17
 //    DebugOut.Analog[9] = SollHoehe;
 //    DebugOut.Analog[10] = Mess_Integral_Gier / 128;
 //    DebugOut.Analog[11] = KompassStartwert;
-//    DebugOut.Analog[10] = Parameter_Gyro_I;
-//    DebugOut.Analog[10] = EE_Parameter.Gyro_I;
-//    DebugOut.Analog[9] = KompassRichtung;
+//    DebugOut.Analog[10] = Parameter_Gyro_I;
+//    DebugOut.Analog[10] = EE_Parameter.Gyro_I;
+//    DebugOut.Analog[9] = KompassRichtung;
 //    DebugOut.Analog[10] = GasMischanteil;
 //    DebugOut.Analog[3] = HoeheD * 32;
 //    DebugOut.Analog[4] = hoehenregler;
   }
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
     if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor;
     else             MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor;
     if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor;
 ,10 → 817,10
     if(MesswertGier >  MAX_SENSOR) MesswertGier =  MAX_SENSOR;
     if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Höhenregelung
 // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //OCR0B = 180 - (Poti1 + 120) / 4;
 //DruckOffsetSetting = OCR0B;
  if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung
 ,15 → 828,15
     int tmp_int;
     if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)  // Regler wird über Schalter gesteuert
     {
-     if(Parameter_MaxHoehe < 50)
+     if(Parameter_MaxHoehe < 50)
       {
        SollHoehe = HoehenWert - 20;  // Parameter_MaxHoehe ist der PPM-Wert des Schalters
        HoehenReglerAktiv = 0;
       }
-      else
+      else
         HoehenReglerAktiv = 1;
     }
-    else
+    else
     {
      SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 20;
      HoehenReglerAktiv = 1;
 ,24 → 852,24
       if(tmp_int > 50) tmp_int = 50;
       else if(tmp_int < -50) tmp_int = -50;
       h -= tmp_int;
-      hoehenregler = (hoehenregler*15 + h) / 16;
+      hoehenregler = (hoehenregler*15 + h) / 16;
       if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN
        {
          if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas;
          if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil;
-       }
+       }
       if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas
       GasMischanteil = hoehenregler;
-     }
+     }
   }
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Mischer und PI-Regler
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
   DebugOut.Analog[7] = GasMischanteil;
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Gier-Anteil
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #define MUL_G  1.4
     GierMischanteil = MesswertGier - sollGier;     // Regler für Gier
 //GierMischanteil = 0;
 ,35 → 877,35
     if(GierMischanteil < -(MUL_G * GasMischanteil)) GierMischanteil = -(MUL_G * GasMischanteil);
     if(GasMischanteil < 10) GierMischanteil = 0;
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Nick-Achse
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
     DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick));    // Differenz bestimmen
     SummeNick += DiffNick;                                   // I-Anteil
-    if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1;
+    if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1;
     if(SummeNick >  16000) SummeNick =  16000;
     if(SummeNick < -16000) SummeNick = -16000;
-    pd_ergebnis = DiffNick;// + Ki * SummeNick; // PI-Regler für Nick
+    pd_ergebnis = DiffNick;// + Ki * SummeNick; // PI-Regler für Nick
     // Motor Vorn
 #define MUL  2
-    if((pd_ergebnis >  MUL * (GasMischanteil))) pd_ergebnis =  MUL * (GasMischanteil);
-    if((pd_ergebnis < -MUL * (GasMischanteil))) pd_ergebnis = -MUL * (GasMischanteil);
+    if((pd_ergebnis >  MUL * (GasMischanteil))) pd_ergebnis =  MUL * (GasMischanteil);
+    if((pd_ergebnis < -MUL * (GasMischanteil))) pd_ergebnis = -MUL * (GasMischanteil);
     motorwert = GasMischanteil + pd_ergebnis + GierMischanteil;   // Mischer
         if ((motorwert < 0)) motorwert = 0;
         else if(motorwert > MAX_GAS)        motorwert = MAX_GAS;
-        if (motorwert < MIN_GAS)            motorwert = MIN_GAS;
-        Motor_Vorne = motorwert;
+        if (motorwert < MIN_GAS)            motorwert = MIN_GAS;
+        Motor_Vorne = motorwert;
     // Motor Heck
         motorwert = GasMischanteil - pd_ergebnis + GierMischanteil;
         if ((motorwert < 0)) motorwert = 0;
         else if(motorwert > MAX_GAS)        motorwert = MAX_GAS;
         if (motorwert < MIN_GAS)            motorwert = MIN_GAS;
-        Motor_Hinten = motorwert;
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+        Motor_Hinten = motorwert;
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Roll-Achse
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
         DiffRoll = Kp * (MesswertRoll - (StickRoll  - GPS_Roll));       // Differenz bestimmen
         SummeRoll += DiffRoll;                                                              // I-Anteil
     if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1;
 ,19 → 912,19
     if(SummeRoll >  16000) SummeRoll =  16000;
     if(SummeRoll < -16000) SummeRoll = -16000;
     pd_ergebnis = DiffRoll;// + Ki * SummeRoll; // PI-Regler für Roll
-    if((pd_ergebnis >  MUL * (GasMischanteil))) pd_ergebnis =  MUL * (GasMischanteil);
-    if((pd_ergebnis < -MUL * (GasMischanteil))) pd_ergebnis = -MUL * (GasMischanteil);
+    if((pd_ergebnis >  MUL * (GasMischanteil))) pd_ergebnis =  MUL * (GasMischanteil);
+    if((pd_ergebnis < -MUL * (GasMischanteil))) pd_ergebnis = -MUL * (GasMischanteil);
     // Motor Links
     motorwert = GasMischanteil + pd_ergebnis - GierMischanteil;
         if ((motorwert < 0)) motorwert = 0;
         else if(motorwert > MAX_GAS)            motorwert = MAX_GAS;
         if (motorwert < MIN_GAS)            motorwert = MIN_GAS;
-        Motor_Links = motorwert;
+        Motor_Links = motorwert;
     // Motor Rechts
         motorwert = GasMischanteil - pd_ergebnis - GierMischanteil;
         if ((motorwert < 0)) motorwert = 0;
         else if(motorwert > MAX_GAS)            motorwert = MAX_GAS;
-        if (motorwert < MIN_GAS)            motorwert = MIN_GAS;
+        if (motorwert < MIN_GAS)            motorwert = MIN_GAS;
         Motor_Rechts = motorwert;
    // +++++++++++++++++++++++++++++++++++++++++++++++
 }

 /branches/V0.63_LED1_LED2/main.c
 ,7 → 113,11
         StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
     ROT_OFF;
+        //--------HF------
+        LED1_OFF;
+        LED2_OFF;
+    //--------HF------
     Timer_Init();
         UART_Init();
     rc_sum_init();

 /branches/V0.63_LED1_LED2/main.h
 ,9 → 15,15
 #define ROT_OFF   {if(PlatinenVersion == 10) PORTB &=~0x01; else  PORTB |= 0x01;}
 #define ROT_ON    {if(PlatinenVersion == 10) PORTB |= 0x01; else  PORTB &=~0x01;}
 #define ROT_FLASH PORTB ^= 0x01
-#define GRN_OFF   PORTB &=~0x02
-#define GRN_ON    PORTB |= 0x02
+#define GRN_OFF   PORTB &=~0x02
+#define GRN_ON    PORTB |= 0x02
 #define GRN_FLASH PORTB ^= 0x02
+//-------------H.F.------------
+#define LED1_ON   PORTC |= 0x04
+#define LED1_OFF  PORTC &=~0x04
+#define LED2_ON   PORTC |= 0x08
+#define LED2_OFF  PORTC &=~0x08
+//-------------H.F.------------
 //#ifndef F_CPU
 //#error ################## F_CPU nicht definiert oder ungültig #############
 ,7 → 51,7
 #define CFG_LOOP_LINKS      0x04
 #define CFG_LOOP_RECHTS     0x08
-//#define  SYSCLK
+//#define  SYSCLK
 //extern unsigned long SYSCLK;
 extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll;
 extern volatile unsigned char SenderOkay;
 ,7 → 93,7
 #define DELAY_US(x)     ((unsigned int)( (x) * 1e-6 * F_CPU ))
 #endif //_MAIN_H

 /branches/V0.63_LED1_LED2/menu.c
 ,14 → 21,14
 void LcdClear(void)
 {
- unsigned char i;
- for(i=0;i<80;i++) DisplayBuff[i] = ' ';
+ unsigned char i;
+ for(i=0;i<80;i++) DisplayBuff[i] = ' ';
 }
 void Menu(void)
  {
-  static unsigned char MaxMenue = 10,MenuePunkt=0;
+  static unsigned char MaxMenue = 10,MenuePunkt=0;
   if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); }
   if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); }
   if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0;
 ,7 → 35,7
   LCD_printfxy(17,0,"[%i]",MenuePunkt);
   switch(MenuePunkt)
    {
-    case 0:
+    case 0:
            LCD_printfxy(0,0,"++ MikroKopter ++");
            LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d",PlatinenVersion/10,PlatinenVersion%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION);
            LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber());
 ,68 → 43,68
 //           if(RemoteTasten & KEY3) TestInt--;
 //           if(RemoteTasten & KEY4) TestInt++;
            break;
-    case 1:
+    case 1:
           if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
-           {
+           {
            LCD_printfxy(0,0,"Hoehe:     %5i",HoehenWert);
            LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe);
            LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck);
            LCD_printfxy(0,3,"Off      : %5i",DruckOffsetSetting);
            }
-           else
-           {
+           else
+           {
            LCD_printfxy(0,1,"Keine ");
            LCD_printfxy(0,2,"Höhenregelung");
            }
            break;
-    case 2:
+    case 2:
            LCD_printfxy(0,0,"akt. Lage");
            LCD_printfxy(0,1,"Nick:      %5i",IntegralNick/1024);
            LCD_printfxy(0,2,"Roll:      %5i",IntegralRoll/1024);
            LCD_printfxy(0,3,"Kompass:   %5i",KompassValue);
            break;
-    case 3:
+    case 3:
            LCD_printfxy(0,0,"K1:%4i  K2:%4i ",PPM_in[1],PPM_in[2]);
            LCD_printfxy(0,1,"K3:%4i  K4:%4i ",PPM_in[3],PPM_in[4]);
            LCD_printfxy(0,2,"K5:%4i  K6:%4i ",PPM_in[5],PPM_in[6]);
            LCD_printfxy(0,3,"K7:%4i  K8:%4i ",PPM_in[7],PPM_in[8]);
            break;
-    case 4:
+    case 4:
            LCD_printfxy(0,0,"Ni:%4i  Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]);
            LCD_printfxy(0,1,"Gs:%4i  Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]);
            LCD_printfxy(0,2,"P1:%4i  P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]);
            LCD_printfxy(0,3,"P3:%4i  P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]);
            break;
-    case 5:
+    case 5:
            LCD_printfxy(0,0,"Gyro - Sensor");
            LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick);
            LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll);
            LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier);
            break;
-    case 6:
+    case 6:
            LCD_printfxy(0,0,"ACC - Sensor");
            LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX);
            LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY);
            LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ);
            break;
-    case 7:
+    case 7:
            LCD_printfxy(0,1,"Spannung:  %5i",UBat);
            LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay);
            break;
-    case 8:
+    case 8:
            LCD_printfxy(0,0,"Kompass       ");
            LCD_printfxy(0,1,"Richtung:  %5i",KompassRichtung);
            LCD_printfxy(0,2,"Messwert:  %5i",KompassValue);
            LCD_printfxy(0,3,"Start:     %5i",KompassStartwert);
            break;
-    case 9:
+    case 9:
            LCD_printfxy(0,0,"Poti1:  %3i",Poti1);
            LCD_printfxy(0,1,"Poti2:  %3i",Poti2);
            LCD_printfxy(0,2,"Poti3:  %3i",Poti3);
            LCD_printfxy(0,3,"Poti4:  %3i",Poti4);
            break;
-    case 10:
+    case 10:
            LCD_printfxy(0,0,"Servo  " );
            LCD_printfxy(0,1,"Setpoint  %3i",Parameter_ServoNickControl);
            LCD_printfxy(0,2,"Stellung: %3i",ServoValue);
 ,8 → 111,8
            LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax);
            break;
     default: MaxMenue = MenuePunkt - 1;
-             MenuePunkt = 0;
+             MenuePunkt = 0;
            break;
     }
  RemoteTasten = 0;
-}
+}

Subversion Repositories FlightCtrl

Compare Revisions

Ignore whitespace Rev 211 → Rev 212