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Line 100... Line 100...
100 
char MotorenEin = 0,StartTrigger = 0;
 100 
char MotorenEin = 0,StartTrigger = 0;
101 
long HoehenWert = 0;
 101 
long HoehenWert = 0;
102 
long SollHoehe = 0;
 102 
long SollHoehe = 0;
103 
long FromNC_AltitudeSetpoint = 0;
 103 
long FromNC_AltitudeSetpoint = 0;
104 
unsigned char FromNC_AltitudeSpeed = 0;
 104 
unsigned char FromNC_AltitudeSpeed = 0;
- 
 
 105 
unsigned char carefree_old = 50; // to make the Beep when switching
Line 105... Line 106...
105 
                         
 106 
                         
106 
int CompassGierSetpoint = 0;
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int CompassGierSetpoint = 0;
107 
int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0;
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int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0;
108 
//float Ki =  FAKTOR_I;
 109 
//float Ki =  FAKTOR_I;
Line 345... Line 346...
345 
    LED_Init();
 346 
    LED_Init();
346 
    FC_StatusFlags |= FC_STATUS_CALIBRATE;
 347 
    FC_StatusFlags |= FC_STATUS_CALIBRATE;
347 
    FromNaviCtrl_Value.Kalman_K = -1;
 348 
    FromNaviCtrl_Value.Kalman_K = -1;
348 
    FromNaviCtrl_Value.Kalman_MaxDrift = 0;
 349 
    FromNaviCtrl_Value.Kalman_MaxDrift = 0;
349 
    FromNaviCtrl_Value.Kalman_MaxFusion = 32;
 350 
    FromNaviCtrl_Value.Kalman_MaxFusion = 32;
350 
 
 - 
 
351 
   for(i=0;i<8;i++)
 351 
   for(i=0;i<8;i++)
352 
    {
 352 
    {
353 
     Poti[i] =  PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
 353 
     Poti[i] =  PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
354 
        }
 354 
        }
355 
    SenderOkay = 100;
 355 
    SenderOkay = 100;
Line 363... Line 363...
363 
        if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; };
 363 
        if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; };
364 
        if((AdNeutralGier < 150 * 2)  || (AdNeutralGier > 850 * 2))  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; };
 364 
        if((AdNeutralGier < 150 * 2)  || (AdNeutralGier > 850 * 2))  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; };
365 
        if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; };
 365 
        if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; };
366 
        if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; };
 366 
        if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; };
367 
        if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; };
 367 
        if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; };
- 
 
 368 
    carefree_old = 70;
368 
}
 369 
}
Line 369... Line 370...
369 
 
 370 
 
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 371 
 
Line 556... Line 557...
556 
// Trägt ggf. das Poti als Parameter ein
 557 
// Trägt ggf. das Poti als Parameter ein
557 
void ParameterZuordnung(void)
 558 
void ParameterZuordnung(void)
558 
//############################################################################
 559 
//############################################################################
559 
{
 560 
{
560 
 unsigned char tmp,i;
 561 
 unsigned char tmp,i;
561 
 static unsigned char carefree_old = 2;
 - 
 
562 
 #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
 562 
 #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
563 
 #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
 563 
 #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
564 
  for(i=0;i<8;i++)
 564 
  for(i=0;i<8;i++)
565 
    {
 565 
    {
566 
     int tmp2;
 566 
     int tmp2;
Line 618... Line 618...
618 
#ifdef SWITCH_LEARNS_CAREFREE
 618 
#ifdef SWITCH_LEARNS_CAREFREE
619 
    if(!CareFree)  ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2;
 619 
    if(!CareFree)  ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2;
620 
#endif
 620 
#endif
621 
        CareFree = 1;
 621 
        CareFree = 1;
622 
    if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0;
 622 
    if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0;
623 
    if(carefree_old == 0 && CareFree)  beeptime = 1000;
 623 
    if(carefree_old != CareFree)
- 
 
 624 
    {
- 
 
 625 
      if(carefree_old < 3)
- 
 
 626 
           {
624 
    if(carefree_old == 1 && !CareFree) beeptime = 200;
 627 
                if(CareFree) beeptime = 1500;
- 
 
 628 
            else beeptime = 200;
625 
    carefree_old = CareFree;
 629 
        carefree_old = CareFree;
- 
 
 630 
           } else carefree_old--;
- 
 
 631 
        }  
626 
        if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE;
 632 
        if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE;
627 
   }
 633 
   }
628 
   else
 634 
   else
629 
   {
 635 
   {
630 
    CareFree = 0;
 636 
    CareFree = 0;
631 
        carefree_old = 0;
 637 
        carefree_old = 10;
632 
   }   
 638 
   }   
Line 633... Line 639...
633 
 
 639 
 
634 
 if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert
 640 
 if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert
635 
        {
 641 
        {