Rev 1497 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1497 | Rev 1521 | ||
|---|---|---|---|
| Line 485... | Line 485... | ||
| 485 | } |
485 | } |
| 486 | else FCFlags |= FCFLAG_MOTOR_RUN; |
486 | else FCFlags |= FCFLAG_MOTOR_RUN; |
| Line 487... | Line 487... | ||
| 487 | 487 | ||
| 488 | DebugOut.Analog[12] = Motor[0].SetPoint; |
488 | DebugOut.Analog[12] = Motor[0].SetPoint; |
| 489 | DebugOut.Analog[13] = Motor[1].SetPoint; |
489 | DebugOut.Analog[13] = Motor[1].SetPoint; |
| 490 | DebugOut.Analog[14] = Motor[3].SetPoint; |
490 | DebugOut.Analog[14] = Motor[2].SetPoint; |
| Line 491... | Line 491... | ||
| 491 | DebugOut.Analog[15] = Motor[2].SetPoint; |
491 | DebugOut.Analog[15] = Motor[3].SetPoint; |
| 492 | 492 | ||
| 493 | //Start I2C Interrupt Mode |
493 | //Start I2C Interrupt Mode |
| 494 | twi_state = 0; |
494 | twi_state = 0; |
| Line 694... | Line 694... | ||
| 694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 695 | // Gas ist unten |
695 | // Gas ist unten |
| 696 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
696 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 697 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
697 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| 698 | { |
698 | { |
| - | 699 | // Motoren Starten |
|
| - | 700 | if(!MotorenEin) |
|
| 699 | // Starten |
701 | { |
| 700 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
702 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| 701 | { |
703 | { |
| 702 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
704 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 703 | // Einschalten |
705 | // Einschalten |
| 704 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 705 | if(++delay_einschalten > 200) |
707 | if(++delay_einschalten > 200) |
| 706 | { |
708 | { |
| 707 | delay_einschalten = 200; |
709 | delay_einschalten = 0; |
| 708 | modell_fliegt = 1; |
710 | modell_fliegt = 1; |
| 709 | MotorenEin = 1; |
711 | MotorenEin = 1; |
| 710 | sollGier = 0; |
712 | sollGier = 0; |
| 711 | Mess_Integral_Gier = 0; |
713 | Mess_Integral_Gier = 0; |
| 712 | Mess_Integral_Gier2 = 0; |
714 | Mess_Integral_Gier2 = 0; |
| 713 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
715 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 714 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
716 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| 715 | Mess_IntegralNick2 = IntegralNick; |
717 | Mess_IntegralNick2 = IntegralNick; |
| 716 | Mess_IntegralRoll2 = IntegralRoll; |
718 | Mess_IntegralRoll2 = IntegralRoll; |
| 717 | SummeNick = 0; |
719 | SummeNick = 0; |
| 718 | SummeRoll = 0; |
720 | SummeRoll = 0; |
| 719 | FCFlags |= FCFLAG_START; |
721 | FCFlags |= FCFLAG_START; |
| 720 | } |
722 | } |
| 721 | } |
723 | } |
| 722 | else delay_einschalten = 0; |
724 | else delay_einschalten = 0; |
| 723 | //Auf Neutralwerte setzen |
- | |
| - | 725 | } |
|
| 724 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
726 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 725 | // Auschalten |
727 | // Auschalten |
| 726 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
728 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 729 | else // only if motors are running |
|
| - | 730 | { |
|
| 727 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
731 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| 728 | { |
732 | { |
| 729 | if(++delay_ausschalten > 200) // nicht sofort |
733 | if(++delay_ausschalten > 200) // nicht sofort |
| 730 | { |
734 | { |
| 731 | MotorenEin = 0; |
735 | MotorenEin = 0; |
| 732 | delay_ausschalten = 200; |
736 | delay_ausschalten = 0; |
| 733 | modell_fliegt = 0; |
737 | modell_fliegt = 0; |
| 734 | } |
738 | } |
| 735 | } |
739 | } |
| 736 | else delay_ausschalten = 0; |
740 | else delay_ausschalten = 0; |
| - | 741 | } |
|
| 737 | } |
742 | } |
| 738 | } |
743 | } |
| 739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
744 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 740 | // neue Werte von der Funke |
745 | // neue Werte von der Funke |
| 741 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
746 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 1589... | Line 1594... | ||
| 1589 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1594 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
| Line 1590... | Line 1595... | ||
| 1590 | 1595 | ||
| 1591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1596 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1592 | // Universal Mixer |
1597 | // Universal Mixer |
| 1593 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1598 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1594 | for(i=0; i<MAX_MOTORS; i++) |
1599 | for(i=0; i<MAX_MOTORS; i++) |
| 1595 | { |
1600 | { |
| 1596 | signed int tmp_int; |
1601 | signed int tmp_int; |
| 1597 | if(Mixer.Motor[i][0] > 0) |
1602 | if(Mixer.Motor[i][0] > 0) |
| 1598 | { |
1603 | { |