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Rev 267 | Rev 273 | ||
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Line 82... | Line 82... | ||
82 | 82 | ||
83 | float GyroFaktor; |
83 | float GyroFaktor; |
Line 84... | Line 84... | ||
84 | float IntegralFaktor; |
84 | float IntegralFaktor; |
85 | 85 | ||
86 | volatile int DiffNick,DiffRoll; |
86 | volatile int DiffNick,DiffRoll; |
87 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
87 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; //PPM24-Erweiterung (121007Kr) |
88 | volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
88 | volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
89 | unsigned char MotorWert[5]; |
89 | unsigned char MotorWert[5]; |
90 | volatile unsigned char SenderOkay = 0; |
90 | volatile unsigned char SenderOkay = 0; |
Line 216... | Line 216... | ||
216 | */ |
216 | */ |
217 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
217 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
218 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
218 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
219 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
219 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
220 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
220 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
- | 221 | //PPM24-Erweiterung (121007Kr) |
|
221 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
222 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
222 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
223 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
223 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
224 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
224 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
225 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
Line 225... | Line 226... | ||
225 | 226 | ||
226 | 227 | ||
227 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
228 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
228 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
229 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
- | 230 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
|
229 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
231 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
230 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
232 | //PPM24-Erweiterung (121007Kr) |
231 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
233 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
232 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
234 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
233 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
235 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
Line 257... | Line 259... | ||
257 | ANALOG_ON; |
259 | ANALOG_ON; |
258 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
260 | if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
259 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
261 | if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
260 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
262 | if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
261 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
263 | if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
- | 264 | //PPM24-Erweiterung (121007Kr) |
|
262 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
265 | if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
263 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
266 | if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
264 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
267 | if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
265 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
268 | if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
Line 269... | Line 272... | ||
269 | 272 | ||
270 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
273 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
271 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
274 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
272 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
275 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
- | 276 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
|
273 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
277 | //PPM24-Erweiterung (121007Kr) |
274 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
278 | if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
275 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
279 | if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
276 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
280 | if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
277 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
281 | if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
Line 842... | Line 846... | ||
842 | DebugOut.Analog[8] = D_Einfluss_North; |
846 | DebugOut.Analog[8] = D_Einfluss_North; |
843 | DebugOut.Analog[9] = Soll_Position_North; |
847 | DebugOut.Analog[9] = Soll_Position_North; |
844 | DebugOut.Analog[10] = Soll_Position_East; |
848 | DebugOut.Analog[10] = Soll_Position_East; |
845 | DebugOut.Analog[11] = Parameter_UserParam1; |
849 | DebugOut.Analog[11] = Parameter_UserParam1; |
846 | DebugOut.Analog[12] = Parameter_UserParam2; |
850 | DebugOut.Analog[12] = Parameter_UserParam2; |
847 | DebugOut.Analog[13] = Poti6; |
851 | DebugOut.Analog[13] = Poti3; |
848 | DebugOut.Analog[14] = KompassValue; |
852 | DebugOut.Analog[14] = KompassValue; |
849 | DebugOut.Analog[15] = GPS_Home_North; |
853 | DebugOut.Analog[15] = GPS_Home_North; |
850 | DebugOut.Analog[16] = GPS_Home_East; |
854 | DebugOut.Analog[16] = GPS_Home_East; |
851 | DebugOut.Analog[17] = NORTH_MITTEL; |
855 | DebugOut.Analog[17] = NORTH_MITTEL; |
852 | DebugOut.Analog[18] = EAST_MITTEL; |
856 | DebugOut.Analog[18] = EAST_MITTEL; |