Rev 734 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 734 | Rev 740 | ||
|---|---|---|---|
| Line 198... | Line 198... | ||
| 198 | MesswertGier = 0; |
198 | MesswertGier = 0; |
| 199 | StartLuftdruck = Luftdruck; |
199 | StartLuftdruck = Luftdruck; |
| 200 | HoeheD = 0; |
200 | HoeheD = 0; |
| 201 | Mess_Integral_Hoch = 0; |
201 | Mess_Integral_Hoch = 0; |
| 202 | KompassStartwert = KompassValue; |
202 | KompassStartwert = KompassValue; |
| 203 | GPS_Neutral(); |
- | |
| 204 | beeptime = 50; |
203 | beeptime = 50; |
| 205 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
204 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| 206 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
205 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| 207 | ExternHoehenValue = 0; |
206 | ExternHoehenValue = 0; |
| 208 | } |
207 | } |
| Line 430... | Line 429... | ||
| 430 | static char NeueKompassRichtungMerken; |
429 | static char NeueKompassRichtungMerken; |
| 431 | static long ausgleichNick, ausgleichRoll; |
430 | static long ausgleichNick, ausgleichRoll; |
| Line 432... | Line 431... | ||
| 432 | 431 | ||
| Line 433... | Line 432... | ||
| 433 | Mittelwert(); |
432 | Mittelwert(); |
| 434 | 433 | ||
| 435 | GRN_ON; |
434 | //GRN_ON; |
| 436 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
435 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 437 | // Gaswert ermitteln |
436 | // Gaswert ermitteln |
| 438 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
437 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 494... | Line 493... | ||
| 494 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
493 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 495 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
494 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| 496 | { |
495 | { |
| 497 | if(++delay_neutral > 200) // nicht sofort |
496 | if(++delay_neutral > 200) // nicht sofort |
| 498 | { |
497 | { |
| 499 | GRN_OFF; |
498 | //GRN_OFF; |
| 500 | MotorenEin = 0; |
499 | MotorenEin = 0; |
| 501 | delay_neutral = 0; |
500 | delay_neutral = 0; |
| 502 | modell_fliegt = 0; |
501 | modell_fliegt = 0; |
| 503 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
502 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| 504 | { |
503 | { |
| Line 910... | Line 909... | ||
| 910 | if(NeueKompassRichtungMerken) |
909 | if(NeueKompassRichtungMerken) |
| 911 | { |
910 | { |
| 912 | KompassStartwert = KompassValue; |
911 | KompassStartwert = KompassValue; |
| 913 | NeueKompassRichtungMerken = 0; |
912 | NeueKompassRichtungMerken = 0; |
| 914 | } |
913 | } |
| 915 | Mess_Integral_Gier += (KompassRichtung *Parameter_KompassWirkung); // nach Kompass ausrichten |
914 | Mess_Integral_Gier += (KompassRichtung * Parameter_KompassWirkung); // nach Kompass ausrichten |
| 916 | } |
915 | } |
| 917 | else beeptime = 50; |
- | |
| 918 | } |
916 | } |
| 919 | } |
917 | } |
| Line -... | Line 918... | ||
| - | 918 | ||
| - | 919 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 920 | // GPS |
|
| - | 921 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 922 | if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
|
| - | 923 | { |
|
| - | 924 | GPS_P_Factor = Parameter_UserParam5; |
|
| - | 925 | GPS_D_Factor = Parameter_UserParam6; |
|
| - | 926 | GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
|
| - | 927 | } |
|
| - | 928 | else |
|
| - | 929 | { |
|
| - | 930 | GPS_Nick = 0; |
|
| - | 931 | GPS_Roll = 0; |
|
| - | 932 | } |
|
| 920 | 933 | ||
| 921 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
934 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 922 | // Debugwerte zuordnen |
935 | // Debugwerte zuordnen |
| 923 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
936 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 924 | if(!TimerWerteausgabe--) |
937 | if(!TimerWerteausgabe--) |
| Line 940... | Line 953... | ||
| 940 | DebugOut.Analog[12] = Motor_Vorne; |
953 | DebugOut.Analog[12] = Motor_Vorne; |
| 941 | DebugOut.Analog[13] = Motor_Hinten; |
954 | DebugOut.Analog[13] = Motor_Hinten; |
| 942 | DebugOut.Analog[14] = Motor_Links; |
955 | DebugOut.Analog[14] = Motor_Links; |
| 943 | DebugOut.Analog[15] = Motor_Rechts; |
956 | DebugOut.Analog[15] = Motor_Rechts; |
| 944 | DebugOut.Analog[16] = Mittelwert_AccHoch; |
957 | DebugOut.Analog[16] = Mittelwert_AccHoch; |
| - | 958 | ||
| - | 959 | DebugOut.Analog[17] = Parameter_UserParam5; |
|
| - | 960 | DebugOut.Analog[18] = Parameter_UserParam6; |
|
| 945 | /* |
961 | /* |
| 946 | DebugOut.Analog[17] = IntegralAccNick / 26; |
- | |
| 947 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
- | |
| 948 | DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
962 | DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
| 949 | DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
963 | DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
| 950 | DebugOut.Analog[21] = MittelIntegralNick / 26; |
964 | DebugOut.Analog[21] = MittelIntegralNick / 26; |
| 951 | DebugOut.Analog[22] = MittelIntegralRoll / 26; |
965 | DebugOut.Analog[22] = MittelIntegralRoll / 26; |
| 952 | DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
966 | DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |