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| Rev 973 | Rev 983 | ||
|---|---|---|---|
| Line 53... | Line 53... | ||
| 53 | unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
53 | unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| 54 | unsigned char MotorWert[5]; |
54 | unsigned char MotorWert[5]; |
| 55 | unsigned char SenderOkay = 0; |
55 | unsigned char SenderOkay = 0; |
| 56 | unsigned int I2CTimeout = 100; |
56 | unsigned int I2CTimeout = 100; |
| 57 | char MotorenEin = 0; |
57 | char MotorenEin = 0; |
| - | 58 | unsigned int modell_fliegt = 0; |
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| Line 58... | Line 59... | ||
| 58 | 59 | ||
| 59 | extern unsigned long maxDistance; |
60 | extern unsigned long maxDistance; |
| 60 | extern signed int GPS_Nick, GPS_Roll; |
61 | extern signed int GPS_Nick, GPS_Roll; |
| Line 73... | Line 74... | ||
| 73 | @post - |
74 | @post - |
| 74 | @author Michael Walter |
75 | @author Michael Walter |
| 75 | **************************************************************************** */ |
76 | **************************************************************************** */ |
| 76 | void SetNeutral(void) |
77 | void SetNeutral(void) |
| 77 | { |
78 | { |
| - | 79 | beeptime = 2000; |
|
| 78 | Delay_ms(1000); |
80 | Delay_ms(1000); |
| 79 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
81 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 80 | { |
82 | { |
| 81 | if((AdWertAirPressure_Raw > 950) || (AdWertAirPressure_Raw < 750)) |
83 | if((AdWertAirPressure_Raw > 950) || (AdWertAirPressure_Raw < 750)) |
| 82 | { |
84 | { |
| Line 165... | Line 167... | ||
| 165 | { |
167 | { |
| 166 | DeltaAltitude = CurrentAltitude - LastAltitude; |
168 | DeltaAltitude = CurrentAltitude - LastAltitude; |
| 167 | LastAltitude = CurrentAltitude; |
169 | LastAltitude = CurrentAltitude; |
| 168 | } |
170 | } |
| 169 | AirPressureCnt++; |
171 | AirPressureCnt++; |
| 170 | 172 | ||
| - | 173 | if(modell_fliegt < 0x250) |
|
| - | 174 | { |
|
| 171 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
175 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
| - | 176 | AdNeutralNick = 0.998F * AdNeutralNick + 0.002F * AdWertNick_Raw; |
|
| - | 177 | AdNeutralRoll = 0.998F * AdNeutralRoll + 0.002F * AdWertRoll_Raw; |
|
| - | 178 | if (abs(StickGier) < 15 || MotorenEin == 0) |
|
| - | 179 | { |
|
| - | 180 | AdNeutralGier = 0.998F * AdNeutralGier + 0.002F * AdWertGier_Raw; |
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| - | 181 | } |
|
| - | 182 | } |
|
| - | 183 | else if(modell_fliegt < 0x2000) |
|
| 172 | { |
184 | { |
| - | 185 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
|
| 173 | AdNeutralNick = 0.999F * AdNeutralNick + 0.001F * AdWertNick_Raw; |
186 | AdNeutralNick = 0.999F * AdNeutralNick + 0.001F * AdWertNick_Raw; |
| 174 | AdNeutralRoll = 0.999F * AdNeutralRoll + 0.001F * AdWertRoll_Raw; |
187 | AdNeutralRoll = 0.999F * AdNeutralRoll + 0.001F * AdWertRoll_Raw; |
| 175 | if (abs(StickGier) < 15 || MotorenEin == 0) |
188 | if (abs(StickGier) < 15 || MotorenEin == 0) |
| 176 | { |
189 | { |
| 177 | AdNeutralGier = 0.999F * AdNeutralGier + 0.001F * AdWertGier_Raw; |
190 | AdNeutralGier = 0.999F * AdNeutralGier + 0.001F * AdWertGier_Raw; |
| - | 191 | } |
|
| - | 192 | } |
|
| - | 193 | else |
|
| - | 194 | { |
|
| - | 195 | AdNeutralNick = 0.9995F * AdNeutralNick + 0.0005F * AdWertNick_Raw; |
|
| - | 196 | AdNeutralRoll = 0.9995F * AdNeutralRoll + 0.0005F * AdWertRoll_Raw; |
|
| - | 197 | if (abs(StickGier) < 15 || MotorenEin == 0) |
|
| - | 198 | { |
|
| - | 199 | AdNeutralGier = 0.9995F * AdNeutralGier + 0.0005F * AdWertGier_Raw; |
|
| 178 | } |
200 | } |
| 179 | } |
201 | } |
| Line 180... | Line 202... | ||
| 180 | 202 | ||
| 181 | #if 1 |
203 | #if 1 |
| Line 185... | Line 207... | ||
| 185 | 207 | ||
| 186 | DebugOut.Analog[9] = AdNeutralNick; |
208 | DebugOut.Analog[9] = AdNeutralNick; |
| 187 | DebugOut.Analog[10] = AdNeutralRoll; |
209 | DebugOut.Analog[10] = AdNeutralRoll; |
| 188 | DebugOut.Analog[11] = AdNeutralGier; |
210 | DebugOut.Analog[11] = AdNeutralGier; |
| 189 | #endif |
211 | #endif |
| 190 | 212 | ||
| 191 | AccumulatedRoll = 0; |
213 | AccumulatedRoll = 0; |
| 192 | AccumulatedRoll_cnt = 0; |
214 | AccumulatedRoll_cnt = 0; |
| 193 | AccumulatedNick = 0; |
215 | AccumulatedNick = 0; |
| 194 | AccumulatedNick_cnt = 0; |
216 | AccumulatedNick_cnt = 0; |
| Line 256... | Line 278... | ||
| 256 | **************************************************************************** */ |
278 | **************************************************************************** */ |
| 257 | void RemoteControl(void) |
279 | void RemoteControl(void) |
| 258 | { |
280 | { |
| 259 | static unsigned char delay_neutral = 0; |
281 | static unsigned char delay_neutral = 0; |
| 260 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
282 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| 261 | static unsigned int modell_fliegt = 0; |
- | |
| Line 262... | Line 283... | ||
| 262 | 283 | ||
| 263 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
284 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 264 | // Gaswert ermitteln |
285 | // Gaswert ermitteln |
| 265 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
286 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |