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| Rev 973 | Rev 974 | ||
|---|---|---|---|
| Line 154... | Line 154... | ||
| 154 | while (((Count8Khz - OldTime) *10) / 8 < 120); |
154 | while (((Count8Khz - OldTime) *10) / 8 < 120); |
| 155 | DebugOut.Analog[14] = ((Count8Khz - OldTime) *10) / 8; |
155 | DebugOut.Analog[14] = ((Count8Khz - OldTime) *10) / 8; |
| 156 | } |
156 | } |
| 157 | OldTime = Count8Khz; |
157 | OldTime = Count8Khz; |
| Line 158... | Line 158... | ||
| 158 | 158 | ||
| 159 | /*GetMeasurements()*/ |
159 | /* GetMeasurements()*/ |
| - | 160 | GetMeasurements(); |
|
| 160 | GetMeasurements(); |
161 | |
| 161 | /*EstimateFlightAttitude */ |
162 | /* EstimateFlightAttitude */ |
| - | 163 | FlightAttitudeEstimation(); |
|
| 162 | FlightAttitudeEstimation(); |
164 | |
| 163 | /* Set Nominal Value */ |
165 | /* Set Nominal Value */ |
| - | 166 | RemoteControl(); |
|
| 164 | RemoteControl(); |
167 | |
| 165 | /* PID Control */ |
168 | /* PD Control */ |
| - | 169 | PD_Regler(); |
|
| 166 | PD_Regler(); |
170 | |
| 167 | /* Send Motor Data */ |
171 | /* Send Motor Data */ |
| - | 172 | SendMotorData(); |
|
| 168 | SendMotorData(); |
173 | |
| 169 | /* TestRemote */ |
174 | /* TestRemote */ |
| - | 175 | TestRemote(); |
|
| 170 | TestRemote(); |
176 | |
| 171 | /* Test IC2- / RC-Link */ |
177 | /* Test IC2- / RC-Link */ |
| 172 | TestIC2Link(); |
178 | TestIC2Link(); |
| 173 | } |
179 | } |
| 174 | /* Send Debug Data over RS232 */ |
180 | /* Send Debug Data over RS232 */ |
| 175 | SendDebugData(); |
181 | SendDebugData(); |
| 176 | /* Check the Batery for Undervoltage */ |
182 | /* Check the Batery for Undervoltage */ |
| 177 | TestBattery(); |
183 | TestBattery(); |
| 178 | /* DeployRescue */ |
184 | /* DeployRescue */ |
| 179 | //DeployRescue(); |
185 | /* DeployRescue(); */ |
| 180 | } |
186 | } |
| Line 181... | Line 187... | ||
| 181 | } |
187 | } |
| 182 | 188 | ||