WebSVN - FlightCtrl - Diff - Rev 1941 and 1942



volatile unsigned char SenderOkay = 0;
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
char MotorenEin = 0,StartTrigger = 0;
long HoehenWert = 0;
long SollHoehe = 0;
signed int AltitudeSetpointTrimming = 0;
long FromNC_AltitudeSetpoint = 0;
unsigned char FromNC_AltitudeSpeed = 0;
unsigned char carefree_old = 50; // to make the Beep when switching
 
signed char WaypointTrimming = 0;
int CompassGierSetpoint = 0;
int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0;
//float Ki =  FAKTOR_I;
int Ki = 10300 / 33;
unsigned char Looping_Nick = 0,Looping_Roll = 0;

    DebugOut.Analog[27] = KompassSollWert;
        DebugOut.Analog[29] = Capacity.MinOfMaxPWM;
    DebugOut.Analog[30] = GPS_Nick;
    DebugOut.Analog[31] = GPS_Roll;
    if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe;
 
DebugOut.Analog[16] =  AltitudeSetpointTrimming;
DebugOut.Analog[17] =  ElectricAirPacket.m_sec;
}

 

                int HCGas, HeightDeviation = 0,GasReduction = 0;
                static int HeightTrimming = 0;  // rate for change of height setpoint
                static int FilterHCGas = 0;
                static unsigned long HoverGasFilter = 0;
                static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
 
            int CosAttitude;    // for projection of hoover gas

 
                // get the current hooverpoint

                tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR);  // roll angle in deg
                CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
                LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
                CosAttitude = c_cos_8192(CosAttitude);  // cos of actual attitude
                VarioCharacter = ' ';
                AltitudeSetpointTrimming = 0;
                if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
                {
                        #define HEIGHT_CONTROL_STICKTHRESHOLD 15
                // Holger original version
                // start of height control algorithm

                FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL;
        if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER))  // Regler wird über Schalter gesteuert)
              {  // old version
                        HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
                        HeightTrimming = 0;
                        AltitudeSetpointTrimming = 0;
                        // set both flags to indicate no vario mode
                        FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
          }
                  else
                  {
                // alternative height control
                // PD-Control with respect to hoover point
                // the thrust loss out of horizontal attitude is compensated
                // the setpoint will be fine adjusted with the gas stick position
                        if(1 || FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying
                        {   // gas stick is above hoover point
                                if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
                                {
                                        if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN)
                                        {
                                                FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
                                        }
                                        FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP;
                                        AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));
//                                      HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
                                        VarioCharacter = '+';
                                        WaypointTrimming = 0;
                                } // gas stick is below hoover point
                                else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )
                                {

                                        {
                                                FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
                                        }
                                        FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN;
                                        AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
//                                      HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
                                        VarioCharacter = '-';
                                        WaypointTrimming = 0;
                                }
                                else // Gas Stick in Hover Range
                                {
                                        VarioCharacter = '=';
                    if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen
                                         {
                                                FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP;
                                                AltitudeSetpointTrimming = FromNC_AltitudeSpeed;
                                                //HeightTrimming += FromNC_AltitudeSpeed;
                                                WaypointTrimming = 10;
                                                VarioCharacter = '^';
                                                if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN)  // changed from sinking to rising
                                                {
                                                        FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;

                                         }
                                         else
                    if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken
                                         {
                                                FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN;
                                                AltitudeSetpointTrimming = -FromNC_AltitudeSpeed;
                                                //HeightTrimming -= FromNC_AltitudeSpeed;
                                                WaypointTrimming = -10;
                                                VarioCharacter = 'v';
                                                if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking
                                                {
                                                        FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;

                                                 StartTrigger = 1;
                                                }
                                        }
                                }
                                // Trim height set point
                                HeightTrimming += AltitudeSetpointTrimming;
                                if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz
                                {
                                        if(WaypointTrimming)
                                         {
                                          if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint;
                                          else SollHoehe += WaypointTrimming;
                                          }
                                        else
                                       
                                        if(HeightTrimming > 0)  SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3;
                                        else                    SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3;
                                        HeightTrimming = 0;
                                        LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied
                                        if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100;
                                        //update hoover gas stick value when setpoint is shifted
                       if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0)

                        GasReduction += tmp_int;
            GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value
                        // ------------------------                  ----------------------------------
                        HCGas -= GasReduction;
                        // limit deviation from hoover point within the target region
                        if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero
                        {
                         unsigned int tmp;
                         tmp = abs(HeightDeviation);
                         if(tmp <= 60)
                         {

Rev 1941	Rev 1942
Line 99...	Line 99...
99	volatile unsigned char SenderOkay = 0;	99	volatile unsigned char SenderOkay = 0;
100	int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;	100	int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
101	char MotorenEin = 0,StartTrigger = 0;	101	char MotorenEin = 0,StartTrigger = 0;
102	long HoehenWert = 0;	102	long HoehenWert = 0;
103	long SollHoehe = 0;	103	long SollHoehe = 0;
-		104	signed int AltitudeSetpointTrimming = 0;
104	long FromNC_AltitudeSetpoint = 0;	105	long FromNC_AltitudeSetpoint = 0;
105	unsigned char FromNC_AltitudeSpeed = 0;	106	unsigned char FromNC_AltitudeSpeed = 0;
106	unsigned char carefree_old = 50; // to make the Beep when switching	107	unsigned char carefree_old = 50; // to make the Beep when switching
107		-
-		108	signed char WaypointTrimming = 0;
108	int CompassGierSetpoint = 0;	109	int CompassGierSetpoint = 0;
109	int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0;	110	int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0;
110	//float Ki = FAKTOR_I;	111	//float Ki = FAKTOR_I;
111	int Ki = 10300 / 33;	112	int Ki = 10300 / 33;
112	unsigned char Looping_Nick = 0,Looping_Roll = 0;	113	unsigned char Looping_Nick = 0,Looping_Roll = 0;
Line 205...	Line 206...
205	DebugOut.Analog[27] = KompassSollWert;	206	DebugOut.Analog[27] = KompassSollWert;
206	DebugOut.Analog[29] = Capacity.MinOfMaxPWM;	207	DebugOut.Analog[29] = Capacity.MinOfMaxPWM;
207	DebugOut.Analog[30] = GPS_Nick;	208	DebugOut.Analog[30] = GPS_Nick;
208	DebugOut.Analog[31] = GPS_Roll;	209	DebugOut.Analog[31] = GPS_Roll;
209	if(VersionInfo.HardwareError[0] \|\| VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 1; else DebugOut.Status[1] &= 0xfe;	210	if(VersionInfo.HardwareError[0] \|\| VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 1; else DebugOut.Status[1] &= 0xfe;
-		211
-		212	DebugOut.Analog[16] = AltitudeSetpointTrimming;
-		213	DebugOut.Analog[17] = ElectricAirPacket.m_sec;
210	}	214	}
Line 211...	Line 215...
211		215
Line 1349...	Line 1353...
1349	int HCGas, HeightDeviation = 0,GasReduction = 0;	1353	int HCGas, HeightDeviation = 0,GasReduction = 0;
1350	static int HeightTrimming = 0; // rate for change of height setpoint	1354	static int HeightTrimming = 0; // rate for change of height setpoint
1351	static int FilterHCGas = 0;	1355	static int FilterHCGas = 0;
1352	static unsigned long HoverGasFilter = 0;	1356	static unsigned long HoverGasFilter = 0;
1353	static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;	1357	static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
1354	static signed char WaypointTrimming = 0;	-
1355	int CosAttitude; // for projection of hoover gas	1358	int CosAttitude; // for projection of hoover gas
Line 1356...	Line 1359...
1356		1359
1357	// get the current hooverpoint	1360	// get the current hooverpoint
Line 1434...	Line 1437...
1434	tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg	1437	tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg
1435	CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg	1438	CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
1436	LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle	1439	LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
1437	CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude	1440	CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude
1438	VarioCharacter = ' ';	1441	VarioCharacter = ' ';
-		1442	AltitudeSetpointTrimming = 0;
1439	if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))	1443	if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
1440	{	1444	{
1441	#define HEIGHT_CONTROL_STICKTHRESHOLD 15	1445	#define HEIGHT_CONTROL_STICKTHRESHOLD 15
1442	// Holger original version	1446	// Holger original version
1443	// start of height control algorithm	1447	// start of height control algorithm
Line 1447...	Line 1451...
1447	FC_StatusFlags2 \|= FC_STATUS2_ALTITUDE_CONTROL;	1451	FC_StatusFlags2 \|= FC_STATUS2_ALTITUDE_CONTROL;
1448	if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) \|\| !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert)	1452	if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) \|\| !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert)
1449	{ // old version	1453	{ // old version
1450	HCGas = GasMischanteil; // take current stick gas as neutral point for the height control	1454	HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
1451	HeightTrimming = 0;	1455	HeightTrimming = 0;
-		1456	AltitudeSetpointTrimming = 0;
1452	// set both flags to indicate no vario mode	1457	// set both flags to indicate no vario mode
1453	FC_StatusFlags \|= (FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN);	1458	FC_StatusFlags \|= (FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN);
1454	}	1459	}
1455	else	1460	else
1456	{	1461	{
1457	// alternative height control	1462	// alternative height control
1458	// PD-Control with respect to hoover point	1463	// PD-Control with respect to hoover point
1459	// the thrust loss out of horizontal attitude is compensated	1464	// the thrust loss out of horizontal attitude is compensated
1460	// the setpoint will be fine adjusted with the gas stick position	1465	// the setpoint will be fine adjusted with the gas stick position
1461	if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying	1466	if(1 \|\| FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying
1462	{ // gas stick is above hoover point	1467	{ // gas stick is above hoover point
1463	if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)	1468	if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
1464	{	1469	{
1465	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN)	1470	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN)
1466	{	1471	{
1467	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;	1472	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;
1468	SollHoehe = HoehenWert; // update setpoint to current heigth	1473	SollHoehe = HoehenWert; // update setpoint to current heigth
1469	}	1474	}
1470	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_UP;	1475	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_UP;
-		1476	AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));
1471	HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));	1477	// HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
1472	VarioCharacter = '+';	1478	VarioCharacter = '+';
1473	WaypointTrimming = 0;	1479	WaypointTrimming = 0;
1474	} // gas stick is below hoover point	1480	} // gas stick is below hoover point
1475	else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )	1481	else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )
1476	{	1482	{
Line 1478...	Line 1484...
1478	{	1484	{
1479	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;	1485	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;
1480	SollHoehe = HoehenWert; // update setpoint to current heigth	1486	SollHoehe = HoehenWert; // update setpoint to current heigth
1481	}	1487	}
1482	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_DOWN;	1488	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_DOWN;
-		1489	AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
1483	HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));	1490	// HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
1484	VarioCharacter = '-';	1491	VarioCharacter = '-';
1485	WaypointTrimming = 0;	1492	WaypointTrimming = 0;
1486	}	1493	}
1487	else // Gas Stick in Hover Range	1494	else // Gas Stick in Hover Range
1488	{	1495	{
1489	VarioCharacter = '=';	1496	VarioCharacter = '=';
1490	if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen	1497	if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen
1491	{	1498	{
1492	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_UP;	1499	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_UP;
-		1500	AltitudeSetpointTrimming = FromNC_AltitudeSpeed;
1493	HeightTrimming += FromNC_AltitudeSpeed;	1501	//HeightTrimming += FromNC_AltitudeSpeed;
1494	WaypointTrimming = 10;	1502	WaypointTrimming = 10;
1495	VarioCharacter = '^';	1503	VarioCharacter = '^';
1496	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising	1504	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising
1497	{	1505	{
1498	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;	1506	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;
Line 1501...	Line 1509...
1501	}	1509	}
1502	else	1510	else
1503	if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken	1511	if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken
1504	{	1512	{
1505	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_DOWN;	1513	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_DOWN;
-		1514	AltitudeSetpointTrimming = -FromNC_AltitudeSpeed;
1506	HeightTrimming -= FromNC_AltitudeSpeed;	1515	//HeightTrimming -= FromNC_AltitudeSpeed;
1507	WaypointTrimming = -10;	1516	WaypointTrimming = -10;
1508	VarioCharacter = 'v';	1517	VarioCharacter = 'v';
1509	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking	1518	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking
1510	{	1519	{
1511	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;	1520	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;
Line 1525...	Line 1534...
1525	StartTrigger = 1;	1534	StartTrigger = 1;
1526	}	1535	}
1527	}	1536	}
1528	}	1537	}
1529	// Trim height set point	1538	// Trim height set point
-		1539	HeightTrimming += AltitudeSetpointTrimming;
1530	if(abs(HeightTrimming) > 512)	1540	if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz
1531	{	1541	{
1532	if(WaypointTrimming)	1542	if(WaypointTrimming)
1533	{	1543	{
1534	if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint;	1544	if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint;
1535	else SollHoehe += WaypointTrimming;	1545	else SollHoehe += WaypointTrimming;
1536	}	1546	}
1537	else	1547	else
-		1548
1538	SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint	1549	if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3;
-		1550	else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3;
1539	HeightTrimming = 0;	1551	HeightTrimming = 0;
1540	LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied	1552	LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied
1541	if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100;	1553	if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100;
1542	//update hoover gas stick value when setpoint is shifted	1554	//update hoover gas stick value when setpoint is shifted
1543	if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0)	1555	if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0)
Line 1599...	Line 1611...
1599	GasReduction += tmp_int;	1611	GasReduction += tmp_int;
1600	GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value	1612	GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value
1601	// ------------------------ ----------------------------------	1613	// ------------------------ ----------------------------------
1602	HCGas -= GasReduction;	1614	HCGas -= GasReduction;
1603	// limit deviation from hoover point within the target region	1615	// limit deviation from hoover point within the target region
1604	if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero	1616	if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero
1605	{	1617	{
1606	unsigned int tmp;	1618	unsigned int tmp;
1607	tmp = abs(HeightDeviation);	1619	tmp = abs(HeightDeviation);
1608	if(tmp <= 60)	1620	if(tmp <= 60)
1609	{	1621	{

Subversion Repositories FlightCtrl

(root)/tags/V2.10a/fc.c @ 2739 - Rev 1941 → 1942