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| Rev 76 | Rev 77 | ||
|---|---|---|---|
| Line 623... | Line 623... | ||
| 623 | if(abs(StickGier) > 35) |
623 | if(abs(StickGier) > 35) |
| 624 | { |
624 | { |
| 625 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
625 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| 626 | } |
626 | } |
| 627 | tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
627 | tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| 628 | Mess_Integral_Gier -= tmp_int; |
628 | Mess_Integral_Gier -= tmp_int; |
| - | 629 | //Salvo 28.8.2007 ************************** |
|
| - | 630 | // Der Gyrodriftauusgleich darf gewolltes Gieren nicht als Drift interpretieren |
|
| - | 631 | //sonst bleibt danach eine Restdrehung mit Vorzeichenumkehr uebrig |
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| - | 632 | Mess_Integral_Gier2 -= tmp_int; |
|
| - | 633 | // Salvo Patch Ende ************************** |
|
| 629 | if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
634 | if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| 630 | if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
635 | if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| Line 631... | Line 636... | ||
| 631 | 636 | ||
| Line 678... | Line 683... | ||
| 678 | DebugOut.Analog[4] = MesswertGier; |
683 | DebugOut.Analog[4] = MesswertGier; |
| 679 | DebugOut.Analog[5] = HoehenWert; |
684 | DebugOut.Analog[5] = HoehenWert; |
| 680 | DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
685 | DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| 681 | DebugOut.Analog[7] = GasMischanteil; |
686 | DebugOut.Analog[7] = GasMischanteil; |
| 682 | DebugOut.Analog[8] = KompassValue; |
687 | DebugOut.Analog[8] = KompassValue; |
| - | 688 | DebugOut.Analog[9] = Mess_Integral_Gier2; |
|
| 683 | // DebugOut.Analog[9] = SollHoehe; |
689 | // DebugOut.Analog[9] = SollHoehe; |
| 684 | // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
690 | // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| 685 | // DebugOut.Analog[11] = KompassStartwert; |
691 | // DebugOut.Analog[11] = KompassStartwert; |
| 686 | // DebugOut.Analog[10] = Parameter_Gyro_I; |
692 | // DebugOut.Analog[10] = Parameter_Gyro_I; |
| 687 | // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
693 | // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |