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| Rev 2 | Rev 29 | ||
|---|---|---|---|
| Line 263... | Line 263... | ||
| 263 | 263 | ||
| 264 | //Start I2C Interrupt Mode |
264 | //Start I2C Interrupt Mode |
| 265 | twi_state = 0; |
265 | twi_state = 0; |
| 266 | motor = 0; |
266 | motor = 0; |
| - | 267 | i2c_start(); |
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| - | 268 | ||
| 267 | i2c_start(); |
269 | |
| Line 268... | Line 270... | ||
| 268 | } |
270 | } |
| 269 | 271 | ||
| 270 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
272 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 568... | Line 570... | ||
| 568 | IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
570 | IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| Line 569... | Line 571... | ||
| 569 | 571 | ||
| 570 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
572 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 571 | if(GyroFaktor < 0) GyroFaktor = 0; |
573 | if(GyroFaktor < 0) GyroFaktor = 0; |
| - | 574 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
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| - | 575 | ||
| - | 576 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 577 | // My Stuff |
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| - | 578 | // Transistor Schalter |
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| - | 579 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 580 | ||
| - | 581 | if (Blinkzeit > 5) |
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| - | 582 | { |
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| - | 583 | if (((Blinki/40) > Blinkzeit) & (Blinkzeit <250)) |
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| - | 584 | { |
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| - | 585 | T2_Switch; |
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| - | 586 | Blinki = 0; |
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| - | 587 | } |
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| - | 588 | else T1_ON; |
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| - | 589 | } |
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| - | 590 | else T2_OFF; |
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| - | 591 | ||
| - | 592 | if (Parameter_UserParam1 <= 50) |
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| - | 593 | { |
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| - | 594 | if (Parameter_UserParam2 >= 125) T1_ON; else T1_OFF; |
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| - | 595 | Blinkzeit = Parameter_UserParam3; |
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| - | 596 | } |
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| - | 597 | ||
| - | 598 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 599 | //end My Stuff |
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| 572 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
600 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 601 | } |
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| - | 602 | ||
| - | 603 | ||
| 573 | } |
604 | |
| 574 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
605 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 575 | // Bei Empfangsausfall im Flug |
606 | // Bei Empfangsausfall im Flug |
| 576 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
607 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 577 | if(Notlandung) |
608 | if(Notlandung) |