/test_branches/FC2_2/eeprom.c |
---|
118,7 → 118,7 |
void CommonDefaults(void) |
{ |
EE_Parameter.Revision = EEPARAM_REVISION; |
memset(EE_Parameter.Name,0,12); // delete name |
if(PlatinenVersion >= 20) |
{ |
EE_Parameter.Gyro_D = 10; |
263,7 → 263,7 |
EE_Parameter.I_Faktor = 32; |
EE_Parameter.CouplingYawCorrection = 60; |
EE_Parameter.DynamicStability = 75; |
memcpy(EE_Parameter.Name, "Fast\0", 12); |
memcpy(EE_Parameter.Name, "Fast",4); |
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
} |
285,7 → 285,7 |
EE_Parameter.I_Faktor = 16; |
EE_Parameter.CouplingYawCorrection = 70; |
EE_Parameter.DynamicStability = 70; |
memcpy(EE_Parameter.Name, "Normal\0", 12); |
memcpy(EE_Parameter.Name, "Normal",6); |
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
} |
306,7 → 306,7 |
EE_Parameter.I_Faktor = 16; |
EE_Parameter.CouplingYawCorrection = 70; |
EE_Parameter.DynamicStability = 70; |
memcpy(EE_Parameter.Name, "Easy\0", 12); |
memcpy(EE_Parameter.Name, "Easy", 4); |
EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
} |
477,7 → 477,7 |
Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
memcpy(Mixer.Name, "Quadro\0", 7); |
memcpy(Mixer.Name, "Quadro\0\0\0\0\0\0", 12); |
Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
} |
/test_branches/FC2_2/fc.c |
---|
775,13 → 775,28 |
if(modell_fliegt < 0xffff) modell_fliegt++; |
} |
if((modell_fliegt < 256)) |
{ |
{ |
SummeNick = 0; |
SummeRoll = 0; |
sollGier = 0; |
Mess_Integral_Gier = 0; |
} else FC_StatusFlags |= FC_STATUS_FLY; |
} |
else |
{ |
FC_StatusFlags |= FC_STATUS_FLY; |
if(!(FC_StatusFlags2 & FC_STATUS2_TAKEOFF)) |
{ |
if(HoehenWert > 150) |
{ |
FC_StatusFlags2 |= FC_STATUS2_TAKEOFF; |
beeptime = 5000; |
} |
SummeNick = 0; |
SummeRoll = 0; |
Mess_Integral_Gier = 0; |
if(modell_fliegt < 256) sollGier = 0; |
} |
} |
if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
/test_branches/FC2_2/fc.h |
---|
26,6 → 26,7 |
#define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
#define FC_STATUS2_OUT1_ACTIVE 0x08 |
#define FC_STATUS2_OUT2_ACTIVE 0x10 |
#define FC_STATUS2_TAKEOFF 0x20 |
//NC_To_FC_Flags |
#define NC_TO_FC_FLYING_RANGE 0x01 |
/test_branches/FC2_2/main.c |
---|
404,9 → 404,9 |
else |
{ |
timer2 = 1450; // 0,5 Minuten aufrunden |
if(StartLuftdruck < Luftdruck) StartLuftdruck++; |
if(StartLuftdruck < Luftdruck) StartLuftdruck += 2; |
else |
if(StartLuftdruck > Luftdruck) StartLuftdruck--; |
if(StartLuftdruck > Luftdruck) StartLuftdruck -= 2; |
} |
} |
// +++++++++++++++++++++++++++++++++ |
/test_branches/FC2_2/spi.c |
---|
190,6 → 190,9 |
ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
ToNaviCtrl.Param.Byte[8] = FC_StatusFlags; |
if(!FC_StatusFlags2 & FC_STATUS2_TAKEOFF) ToNaviCtrl.Param.Byte[8] &= ~FC_STATUS_FLY; // Damit die NC noch keine I-Anteile aufbaut - muss später anders gelöst werden |
FC_StatusFlags &= ~(FC_STATUS_CALIBRATE | FC_STATUS_START); |
ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
ToNaviCtrl.Param.Byte[10] = EE_Parameter.ComingHomeAltitude; |
282,7 → 285,7 |
ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
VersionInfo.HardwareError[0] = 0; |
VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; // VersionInfo.HardwareError[0] = 0; |
VersionInfo.HardwareError[1] &= FC_ERROR1_MIXER; |
ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; // unused |
ToNaviCtrl.Param.Byte[8] = Parameter_GlobalConfig; |