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| Rev 770 | Rev 776 | ||
|---|---|---|---|
| Line 623... | Line 623... | ||
| 623 | Reading_IntegralGyroRoll = 0; |
623 | Reading_IntegralGyroRoll = 0; |
| 624 | Reading_IntegralGyroPitch2 = IntegralPitch; |
624 | Reading_IntegralGyroPitch2 = IntegralPitch; |
| 625 | Reading_IntegralGyroRoll2 = IntegralRoll; |
625 | Reading_IntegralGyroRoll2 = IntegralRoll; |
| 626 | SumPitch = 0; |
626 | SumPitch = 0; |
| 627 | SumRoll = 0; |
627 | SumRoll = 0; |
| - | 628 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
|
| - | 629 | { |
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| 628 | GPS_SetHomePosition(); |
630 | GPS_SetHomePosition(); |
| - | 631 | } |
|
| 629 | } |
632 | } |
| 630 | } |
633 | } |
| 631 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
634 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
| 632 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 633 | // and yaw stick is leftmost --> stop motors |
636 | // and yaw stick is leftmost --> stop motors |
| Line 637... | Line 640... | ||
| 637 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
640 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| 638 | { |
641 | { |
| 639 | delay_stopmotors = 200; // do not repeat if once executed |
642 | delay_stopmotors = 200; // do not repeat if once executed |
| 640 | Model_Is_Flying = 0; |
643 | Model_Is_Flying = 0; |
| 641 | MotorsOn = 0; |
644 | MotorsOn = 0; |
| - | 645 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
|
| - | 646 | { |
|
| 642 | GPS_ClearHomePosition(); |
647 | GPS_ClearHomePosition(); |
| - | 648 | } |
|
| 643 | } |
649 | } |
| 644 | } |
650 | } |
| 645 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
651 | else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
| 646 | } |
652 | } |
| 647 | // remapping of paameters only if the signal rc-sigbnal conditions are good |
653 | // remapping of paameters only if the signal rc-sigbnal conditions are good |