110,9 → 110,9 |
BeepTime = 2000; |
|
PPM_in[CH_GAS] = 0; |
StickGier = 0; |
StickYaw = 0; |
StickRoll = 0; |
StickNick = 0; |
StickPitch = 0; |
|
ROT_OFF; |
|
119,7 → 119,7 |
TIMER0_Init(); |
TIMER2_Init(); |
USART0_Init(); |
USART1_Init(); |
//USART1_Init(); |
rc_sum_init(); |
ADC_Init(); |
i2c_init(); |
140,7 → 140,7 |
// Parameter set handling |
ParamSet_Init(); |
|
if(GetParamByte(PID_ACC_NICK) > 4) |
if(GetParamByte(PID_ACC_PITCH) > 4) |
{ |
printf("\n\rACC nicht abgeglichen!"); |
} |
150,7 → 150,7 |
while(!CheckDelay(timer)); |
|
//Compass calibration? |
if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 100) |
if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100) |
{ |
printf("\n\rCalibrating Compass"); |
MM3_calibrate(); |
161,7 → 161,7 |
{ |
printf("\n\rAbgleich Luftdrucksensor.."); |
timer = SetDelay(1000); |
SucheLuftruckOffset(); |
SearchAirPressureOffset(); |
while (!CheckDelay(timer)); |
printf("OK\n\r"); |
} |
200,9 → 200,9 |
DubWiseKeys[0] = 0; |
DubWiseKeys[1] = 0; |
ExternControl.Config = 0; |
ExternStickNick = 0; |
ExternStickPitch= 0; |
ExternStickRoll = 0; |
ExternStickGier = 0; |
ExternStickYaw = 0; |
} |
if(SenderOkay) SenderOkay--; |
if(!I2CTimeout) |
209,7 → 209,7 |
{ |
I2CTimeout = 5; |
i2c_reset(); |
if((BeepModulation == 0xFFFF) && MotorenEin) |
if((BeepModulation == 0xFFFF) && MotorsOn) |
{ |
BeepTime = 10000; // 1 second |
BeepModulation = 0x0080; |