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| Rev 966 | Rev 972 | ||
|---|---|---|---|
| Line 166... | Line 166... | ||
| 166 | { |
166 | { |
| 167 | DeltaAltitude = CurrentAltitude - LastAltitude; |
167 | DeltaAltitude = CurrentAltitude - LastAltitude; |
| 168 | LastAltitude = CurrentAltitude; |
168 | LastAltitude = CurrentAltitude; |
| 169 | } |
169 | } |
| 170 | AirPressureCnt++; |
170 | AirPressureCnt++; |
| 171 | 171 | ||
| 172 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
172 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
| 173 | { |
173 | { |
| 174 | Roll_X_Offset = 0.9995F * Roll_X_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_X))); |
174 | Roll_X_Offset = 0.9995F * Roll_X_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_X))); |
| 175 | Roll_Y_Offset = 0.9995F * Roll_Y_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_Y))); |
175 | Roll_Y_Offset = 0.9995F * Roll_Y_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_Y))); |
| Line 176... | Line 176... | ||
| 176 | 176 | ||
| 177 | if (abs(StickGier) < 15 || MotorenEin == 0) |
177 | if (abs(StickGier) < 15 || MotorenEin == 0) |
| 178 | { |
178 | { |
| 179 | Roll_Z_Offset = 0.9998F * Roll_Z_Offset + 0.0002F * (float) ( MAX(-60, MIN(60,AverageRoll_Z))); |
179 | Roll_Z_Offset = 0.9998F * Roll_Z_Offset + 0.0002F * (float) ( MAX(-60, MIN(60,AverageRoll_Z))); |
| 180 | } |
180 | } |
| Line 181... | Line 181... | ||
| 181 | } |
181 | } |
| 182 | 182 | ||
| Line 417... | Line 417... | ||
| 417 | int StickNick45,StickRoll45; |
417 | int StickNick45,StickRoll45; |
| 418 | int DiffNick,DiffRoll, DiffGier; |
418 | int DiffNick,DiffRoll, DiffGier; |
| 419 | int motorwert = 0; |
419 | int motorwert = 0; |
| 420 | int pd_ergebnis; |
420 | int pd_ergebnis; |
| Line 421... | Line -... | ||
| 421 | - | ||
| 422 | 421 | ||
| 423 | /***************************************************************************** |
422 | /***************************************************************************** |
| 424 | Update noimial attitude |
423 | Update noimial attitude |
| 425 | **************************************************************************** */ |
424 | **************************************************************************** */ |
| 426 | if(!NewPpmData--) |
425 | if(!NewPpmData--) |
| Line 472... | Line 471... | ||
| 472 | DescentCnt = 32000; |
471 | DescentCnt = 32000; |
| 473 | } |
472 | } |
| Line 474... | Line 473... | ||
| 474 | 473 | ||
| Line -... | Line 474... | ||
| - | 474 | //DebugOut.Analog[13] = (int) GasMischanteil; |
|
| 475 | //DebugOut.Analog[13] = (int) GasMischanteil; |
475 | |
| 476 | 476 | #ifdef X_FORMATION |
|
| 477 | /* Overide in case the remote link got lost */ |
477 | /* Overide in case the remote link got lost */ |
| 478 | if (RemoteLinkLost == 0) |
478 | if (RemoteLinkLost == 0) |
| 479 | { /* We are flying in X-Formation */ |
479 | { /* We are flying in X-Formation */ |
| Line 484... | Line 484... | ||
| 484 | { /* GPS overide is aktive */ |
484 | { /* GPS overide is aktive */ |
| 485 | StickRoll45 = (int) (0.707F * (float)(-GPS_Roll) - 0.707F * (float)(-GPS_Nick)); |
485 | StickRoll45 = (int) (0.707F * (float)(-GPS_Roll) - 0.707F * (float)(-GPS_Nick)); |
| 486 | StickNick45 = (int) (0.707F * (float)(-GPS_Roll) + 0.707F * (float)(-GPS_Nick)); |
486 | StickNick45 = (int) (0.707F * (float)(-GPS_Roll) + 0.707F * (float)(-GPS_Nick)); |
| 487 | StickGier = 0; |
487 | StickGier = 0; |
| 488 | } |
488 | } |
| - | 489 | #else |
|
| - | 490 | /* Overide in case the remote link got lost */ |
|
| - | 491 | if (RemoteLinkLost == 0) |
|
| - | 492 | { /* We are flying in X-Formation */ |
|
| - | 493 | StickRoll45 = StickRoll - GPS_Roll; |
|
| - | 494 | StickNick45 = StickNick - GPS_Nick; |
|
| - | 495 | } |
|
| - | 496 | else |
|
| - | 497 | { /* GPS overide is aktive */ |
|
| - | 498 | StickRoll45 = -GPS_Roll; |
|
| - | 499 | StickNick45 = -GPS_Nick; |
|
| - | 500 | StickGier = 0; |
|
| - | 501 | } |
|
| - | 502 | #endif |
|
| - | 503 | ||
| 489 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
504 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 490 | // Yaw |
505 | // Yaw |
| 491 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
506 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 492... | Line 507... | ||
| 492 | 507 | ||