Subversion Repositories Projects

Rev

Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
2229 - 1
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
2
<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="de" lang="de">
3
<head>
4
  <meta http-equiv="content-type" content="text/html;charset=UTF-8" />
5
  <meta http-equiv="generator" content="WebSVN 2.3.3" /> <!-- leave this for stats -->
6
  <link rel="shortcut icon" type="image/x-icon" href="./templates/mkstyle/images/favicon.ico" />
7
  <link type="text/css" href="./templates/mkstyle/styles.css" rel="stylesheet" media="screen" />
8
  <link rel='alternate' type='application/rss+xml' title='WebSVN RSS' href='rss.php?repname=Projects&amp;path=%2FRaspberryPi%2FExPlat%2Fflightcontrol.c&amp;' />
9
  <!--[if gte IE 5.5000]>
10
  <script type="text/javascript" src="./templates/mkstyle/png.js"></script>
11
  <style type="text/css" media="screen">
12
  tbody tr td { padding:1px 0 }
13
  #wrap h2 { padding:10px 5px 0 5px; margin-bottom:-8px }
14
  </style>
15
  <![endif]-->
16
  <title>
17
       WebSVN
18
          - Projects
19
               - Revision 2105
20
            - /RaspberryPi/ExPlat/flightcontrol.c
21
  </title>
22
  <script type="text/javascript">
23
  //<![CDATA[
24
       function getPath()
25
       {
26
         return '.';
27
       }
28
 
29
       function checkCB(chBox)
30
       {
31
          count = 0
32
          first = null
33
          f = chBox.form
34
          for (i = 0 ; i < f.elements.length ; i++)
35
          if (f.elements[i].type == 'checkbox' && f.elements[i].checked)
36
          {
37
             if (first == null && f.elements[i] != chBox)
38
                first = f.elements[i]
39
             count += 1
40
          }
41
 
42
          if (count > 2)
43
          {
44
             first.checked = false
45
             count -= 1
46
          }
47
       }
48
  //]]>
49
  </script>
50
</head>
51
<body id="file">
52
<div id="container">
53
<div id="usebbnetnavigation">
54
<ul>
55
 
56
  <li><a href="http://www.mikrokopter.de" target="_blank">MikroKopter.de</a></li>
57
  <li><a href="http://www.mikrokopter.de/ucwiki/" target="_blank">Wiki</a></li>
58
  <li><a href="http://forum.mikrokopter.de" >Forum</a></li>
59
  <li><a href="http://gallery3.mikrokopter.de" target="_blank">Bilder</a></li>
60
  <li><a href="http://svn.mikrokopter.de" target="_blank">SVN</a></li>
61
  <li><a href="http://wiki.mikrokopter.de/VideoListe" target="_blank">Videos</a></li>
62
  <li><a href="http://wiki.mikrokopter.de/MikroKopter-FAQ" target="_blank">FAQ</a></li>
63
  <li><a href="http://map.mikrokopter.de" target="_blank">Map-Tool</a></li>
64
  <li><a href="http://www.multikoptermap.de/" target="_blank">User-Map</a></li>
65
  <li><a href="https://www.mikrocontroller.com" target="_blank">SHOP</a></li>
66
  <span class="rightalign">
67
     <li><a href="http://wiki.mikrokopter.de/Datenschutz" target="_blank">Datenschutz</a></li>
68
   <li><a href="http://wiki.mikrokopter.de/Impressum" target="_blank">Impressum</a></li>
69
  </span>
70
  <!--<li></li> -->
71
  </ul>
72
</div>
73
        <div id="select">
74
                <form method="get" action="" id="project"><select name="repname" onchange="javascript:this.form.submit();"><option value="Projects" selected="selected">Projects</option><option value="BL-Ctrl">BL-Ctrl</option><option value="FlightCtrl">FlightCtrl</option><option value="MK3Mag">MK3Mag</option><option value="NaviCtrl">NaviCtrl</option></select><noscript><input type="submit" value="Los" /></noscript></form>
75
 
76
                <form method="get" action="" id="language"><input type="hidden" name="repname" value="Projects"/><input type="hidden" name="path" value="/RaspberryPi/ExPlat/flightcontrol.c"/><select name="language" onchange="javascript:this.form.submit();"><option value="ca">Catal&agrave;-Valenci&agrave; - Catalan</option><option value="zh-CN">&#20013;&#25991; - Chinese (Simplified)</option><option value="zh-TW">&#20013;&#25991; - Chinese (Traditional)</option><option value="cs">&#268;esky - Czech</option><option value="da">Dansk - Danish</option><option value="nl">Nederlands - Dutch</option><option value="en">English - English</option><option value="fi">Suomi - Finnish</option><option value="fr">Fran&ccedil;ais - French</option><option value="de" selected="selected">Deutsch - German</option><option value="he-IL">&#1506;&#1489;&#1512;&#1497;&#1514; - Hebrew</option><option value="hin">&#2361;&#2367;&#2306;&#2342;&#2368; - Hindi</option><option value="hu">Magyar - Hungarian</option><option value="id">Bahasa Indonesia - Indonesian</option><option value="it">Italiano - Italian</option><option value="ja">&#26085;&#26412;&#35486; - Japanese</option><option value="ko">&#54620;&#44397;&#50612; - Korean</option><option value="mk">&#1052;&#1072;&#1082;&#1077;&#1076;&#1086;&#1085;&#1089;&#1082;&#1080; - Macedonian</option><option value="mr">&#2350;&#2352;&#2366;&#2336;&#2368; - Marathi</option><option value="no">Norsk - Norwegian</option><option value="pl">Polski - Polish</option><option value="pt">Portugu&ecirc;s - Portuguese</option><option value="pt-BR">Portugu&ecirc;s - Portuguese (Brazil)</option><option value="ru">&#1056;&#1091;&#1089;&#1089;&#1082;&#1080;&#1081; - Russian</option><option value="sk">Sloven&#269;ina - Slovak</option><option value="sl">Sloven&#353;&#269;ina - Slovenian</option><option value="es">Espa&ntilde;ol - Spanish</option><option value="sv">Svenska - Swedish</option><option value="tr">T&uuml;rk&ccedil;e - Turkish</option><option value="uk">&#1059;&#1082;&#1088;&#1072;&#1111;&#1085;&#1089;&#1100;&#1082;&#1072; - Ukrainian</option><option value="uz">O&euml;zbekcha - Uzbek</option></select><noscript><input type="submit" value="Los" /></noscript></form>
77
        </div>
78
        <h1><a href=".?" title="Subversion-Projekte">Subversion-Projekte</a>
79
                <span><a href="listing.php?repname=Projects&amp;">Projects</a></span>
80
        </h1>
81
  <h2 id="pathlinks"><a href="listing.php?repname=Projects&amp;path=%2F&amp;" class="root"><span>(root)</span></a>/<a href="listing.php?repname=Projects&amp;path=%2FRaspberryPi%2F&amp;#a7620b340efeec9e2ce42c417f0d0b3fb">RaspberryPi</a>/<a href="listing.php?repname=Projects&amp;path=%2FRaspberryPi%2FExPlat%2F&amp;#a9d008415d602dfb4ce4a9442c3038a72">ExPlat</a>/<span class="file">flightcontrol.c</span> - Revision 2105</h2>
82
  <div id="revjump"><form method="get" action="" id="revision"><input type="hidden" name="repname" value="Projects" /><input type="hidden" name="path" value="/RaspberryPi/ExPlat/flightcontrol.c" />Revision <input type="text" size="5" name="rev" placeholder="HEAD" /><span class="submit"><input type="submit" value="Los" /></span></form></div>
83
  <p>
84
    <span class="blame"><a href="blame.php?repname=Projects&amp;path=%2FRaspberryPi%2FExPlat%2Fflightcontrol.c&amp;rev=2105">Blame</a></span> &#124;
85
    <span class="changes"><a href="revision.php?repname=Projects&amp;path=%2FRaspberryPi%2FExPlat%2Fflightcontrol.c&amp;rev=2105">Letzte Änderung</a></span> &#124;
86
    <span class="log"><a href="log.php?repname=Projects&amp;path=%2FRaspberryPi%2FExPlat%2Fflightcontrol.c&amp;rev=2105">Log anzeigen</a></span>
87
    &#124; <span class="feed"><a href="rss.php?repname=Projects&amp;path=%2FRaspberryPi%2FExPlat%2Fflightcontrol.c&amp;">RSS feed</a></span>
88
  </p>
89
  <div class="listing">
90
<span style="color: #339933;">#include &quot;main.h&quot;</span><br />
91
<span style="color: #339933;">#include &quot;flightcontrol.h&quot;</span><br />
92
<br />
93
<span style="color: #993333;">int</span> reference_altitude<span style="color: #339933;">;</span> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Regelgröße</span><br />
94
<span style="color: #993333;">int</span> reference_accz<span style="color: #339933;">;</span> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Regelgröße D-Anteil</span><br />
95
<span style="color: #993333;">int</span> reference_flow_x<span style="color: #339933;">;</span><br />
96
<span style="color: #993333;">int</span> reference_flow_y<span style="color: #339933;">;</span><br />
97
<br />
98
<span style="color: #993333;">int</span> altitude_differenz<span style="color: #339933;">;</span> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Regelabweichung</span><br />
99
<span style="color: #993333;">int</span> altitude_differenz_sum <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//I-Glied</span><br />
100
<span style="color: #993333;">int</span> xDirection_differenz_sum <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span><br />
101
<span style="color: #993333;">int</span> yDirection_differenz_sum <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span><br />
102
<br />
103
<span style="color: #993333;">int</span> altitude_old<span style="color: #339933;">;</span><br />
104
<span style="color: #993333;">int</span> altitude_velocity<span style="color: #339933;">;</span><br />
105
<span style="color: #993333;">int</span> xDirection_old<span style="color: #339933;">;</span><br />
106
<span style="color: #993333;">int</span> xDirection_velocity<span style="color: #339933;">;</span><br />
107
<span style="color: #993333;">int</span> yDirection_old<span style="color: #339933;">;</span><br />
108
<span style="color: #993333;">int</span> yDirection_velocity<span style="color: #339933;">;</span><br />
109
<br />
110
<span style="color: #993333;">float</span> gas_correction_dpart<span style="color: #339933;">;</span><br />
111
<span style="color: #993333;">float</span> gas_correction_ipart <span style="color: #339933;">=</span> <span style="color:#800080;">0.0</span><span style="color: #339933;">;</span><br />
112
<span style="color: #993333;">float</span> gas_correction_ppart<span style="color: #339933;">;</span><br />
113
<span style="color: #993333;">float</span> gas_correction_final<span style="color: #339933;">;</span><br />
114
<span style="color: #993333;">float</span> nick_correction_dpart<span style="color: #339933;">;</span><br />
115
<span style="color: #993333;">float</span> nick_correction_ipart <span style="color: #339933;">=</span> <span style="color:#800080;">0.0</span><span style="color: #339933;">;</span><br />
116
<span style="color: #993333;">float</span> nick_correction_ppart<span style="color: #339933;">;</span><br />
117
<span style="color: #993333;">float</span> nick_correction_final<span style="color: #339933;">;</span><br />
118
<span style="color: #993333;">float</span> roll_correction_dpart<span style="color: #339933;">;</span><br />
119
<span style="color: #993333;">float</span> roll_correction_ipart <span style="color: #339933;">=</span> <span style="color:#800080;">0.0</span><span style="color: #339933;">;</span><br />
120
<span style="color: #993333;">float</span> roll_correction_ppart<span style="color: #339933;">;</span><br />
121
<span style="color: #993333;">float</span> roll_correction_final<span style="color: #339933;">;</span><br />
122
<br />
123
<span style="color: #993333;">float</span> pFactorGas <span style="color: #339933;">=</span> <span style="color:#800080;">0.3</span><span style="color: #339933;">;</span> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor P</span><br />
124
<span style="color: #993333;">float</span> iFactorGas <span style="color: #339933;">=</span> <span style="color:#800080;">0.02</span><span style="color: #339933;">;</span>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor I</span><br />
125
<span style="color: #993333;">float</span> dFactorGas <span style="color: #339933;">=</span> <span style="color:#800080;">0.3</span><span style="color: #339933;">;</span> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor D</span><br />
126
<span style="color: #993333;">float</span> pFactorNick <span style="color: #339933;">=</span> <span style="color:#800080;">0.2</span><span style="color: #339933;">;</span>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor P</span><br />
127
<span style="color: #993333;">float</span> iFactorNick <span style="color: #339933;">=</span> <span style="color:#800080;">0.02</span><span style="color: #339933;">;</span> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor I</span><br />
128
<span style="color: #993333;">float</span> dFactorNick <span style="color: #339933;">=</span> <span style="color:#800080;">0.3</span><span style="color: #339933;">;</span>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor D</span><br />
129
<span style="color: #993333;">float</span> pFactorRoll <span style="color: #339933;">=</span> <span style="color:#800080;">0.2</span><span style="color: #339933;">;</span>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor P</span><br />
130
<span style="color: #993333;">float</span> iFactorRoll <span style="color: #339933;">=</span> <span style="color:#800080;">0.02</span><span style="color: #339933;">;</span> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor I</span><br />
131
<span style="color: #993333;">float</span> dFactorRoll <span style="color: #339933;">=</span> <span style="color:#800080;">0.3</span><span style="color: #339933;">;</span>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor D</span><br />
132
<br />
133
<span style="color: #666666; font-style: italic;">//&gt;&gt; Performing Flight Correction</span><br />
134
<span style="color: #666666; font-style: italic;">//------------------------------------------------------------------------------------------------------</span><br />
135
<span style="color: #993333;">void</span> perform_flight_correction<span style="color: #009900;">&#40;</span><span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
136
&nbsp; &nbsp; &nbsp; &nbsp; reference_altitude <span style="color: #339933;">=</span> <span style="color: #009900;">&#40;</span><span style="color: #993333;">int</span><span style="color: #009900;">&#41;</span><span style="color: #009900;">&#40;</span>optical_flow_values.<span style="color: #202020;">ground_distance</span><span style="color: #339933;">*</span>1000<span style="color: #009900;">&#41;</span><span style="color: #339933;">;</span> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Regelgröße in mm</span><br />
137
&nbsp; &nbsp; &nbsp; &nbsp; reference_flow_x <span style="color: #339933;">+=</span> <span style="color: #009900;">&#40;</span><span style="color: #993333;">int</span><span style="color: #009900;">&#41;</span><span style="color: #009900;">&#40;</span>optical_flow_values.<span style="color: #202020;">flow_comp_m_x</span><span style="color: #339933;">*</span>1000<span style="color: #009900;">&#41;</span><span style="color: #339933;">;</span><br />
138
&nbsp; &nbsp; &nbsp; &nbsp; reference_flow_y <span style="color: #339933;">+=</span> <span style="color: #009900;">&#40;</span><span style="color: #993333;">int</span><span style="color: #009900;">&#41;</span><span style="color: #009900;">&#40;</span>optical_flow_values.<span style="color: #202020;">flow_comp_m_y</span><span style="color: #339933;">*</span>1000<span style="color: #009900;">&#41;</span><span style="color: #339933;">;</span><br />
139
&nbsp; &nbsp; &nbsp; &nbsp; altitude_differenz <span style="color: #339933;">=</span> STARTING_ALTITUDE <span style="color: #339933;">-</span> reference_altitude<span style="color: #339933;">;</span>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Regelabweichung in mm</span><br />
140
<br />
141
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>reference_altitude <span style="color: #339933;">!=</span> altitude_old<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
142
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; altitude_velocity <span style="color: #339933;">=</span> <span style="color: #009900;">&#40;</span>reference_altitude <span style="color: #339933;">-</span> altitude_old<span style="color: #009900;">&#41;</span> <span style="color: #339933;">/</span> <span style="color:#800080;">0.1</span><span style="color: #339933;">;</span><br />
143
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><br />
144
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>reference_flow_x <span style="color: #339933;">!=</span> xDirection_old<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
145
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; xDirection_velocity <span style="color: #339933;">=</span> <span style="color: #009900;">&#40;</span>reference_flow_x <span style="color: #339933;">-</span> xDirection_old<span style="color: #009900;">&#41;</span> <span style="color: #339933;">/</span> <span style="color:#800080;">0.1</span><span style="color: #339933;">;</span><br />
146
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><br />
147
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>reference_flow_y <span style="color: #339933;">!=</span> yDirection_old<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
148
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; yDirection_velocity <span style="color: #339933;">=</span> <span style="color: #009900;">&#40;</span>reference_flow_y <span style="color: #339933;">-</span> yDirection_old<span style="color: #009900;">&#41;</span> <span style="color: #339933;">/</span> <span style="color:#800080;">0.1</span><span style="color: #339933;">;</span><br />
149
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><br />
150
<br />
151
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>altitude_differenz_sum <span style="color: #339933;">&lt;</span> 10000 <span style="color: #339933;">&amp;&amp;</span> altitude_differenz_sum <span style="color: #339933;">&gt;</span> <span style="color: #339933;">-</span>10000<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
152
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; altitude_differenz_sum <span style="color: #339933;">+=</span> altitude_differenz <span style="color: #339933;">*</span> <span style="color:#800080;">0.1</span><span style="color: #339933;">;</span><br />
153
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>altitude_differenz_sum <span style="color: #339933;">&gt;</span> 9999<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span>altitude_differenz_sum <span style="color: #339933;">=</span> <span style="color: #0000dd;">9999</span><span style="color: #339933;">;</span><span style="color: #009900;">&#125;</span><span style="color: #b1b100;">else</span> <br />
154
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>altitude_differenz_sum <span style="color: #339933;">&lt;</span> <span style="color: #339933;">-</span>9999<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span>altitude_differenz_sum <span style="color: #339933;">=</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">9999</span><span style="color: #339933;">;</span><span style="color: #009900;">&#125;</span><br />
155
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><br />
156
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>xDirection_differenz_sum <span style="color: #339933;">&lt;</span> 1000 <span style="color: #339933;">&amp;&amp;</span> xDirection_differenz_sum <span style="color: #339933;">&gt;</span> <span style="color: #339933;">-</span>1000<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
157
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; xDirection_differenz_sum <span style="color: #339933;">+=</span> reference_flow_x<span style="color: #339933;">;</span><br />
158
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>xDirection_differenz_sum <span style="color: #339933;">&gt;</span> 9999<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span>xDirection_differenz_sum <span style="color: #339933;">=</span> <span style="color: #0000dd;">9999</span><span style="color: #339933;">;</span><span style="color: #009900;">&#125;</span><span style="color: #b1b100;">else</span> <br />
159
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>xDirection_differenz_sum <span style="color: #339933;">&lt;</span> <span style="color: #339933;">-</span>9999<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span>xDirection_differenz_sum <span style="color: #339933;">=</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">9999</span><span style="color: #339933;">;</span><span style="color: #009900;">&#125;</span><br />
160
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><br />
161
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>yDirection_differenz_sum <span style="color: #339933;">&lt;</span> 1000 <span style="color: #339933;">&amp;&amp;</span> yDirection_differenz_sum <span style="color: #339933;">&gt;</span> <span style="color: #339933;">-</span>1000<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
162
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; yDirection_differenz_sum <span style="color: #339933;">+=</span> reference_flow_y<span style="color: #339933;">;</span><br />
163
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>yDirection_differenz_sum <span style="color: #339933;">&gt;</span> 9999<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span>yDirection_differenz_sum <span style="color: #339933;">=</span> <span style="color: #0000dd;">9999</span><span style="color: #339933;">;</span><span style="color: #009900;">&#125;</span><span style="color: #b1b100;">else</span> <br />
164
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>yDirection_differenz_sum <span style="color: #339933;">&lt;</span> <span style="color: #339933;">-</span>9999<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span>yDirection_differenz_sum <span style="color: #339933;">=</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">9999</span><span style="color: #339933;">;</span><span style="color: #009900;">&#125;</span><br />
165
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><br />
166
<br />
167
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br />
168
&nbsp; &nbsp; <span style="color: #666666; font-style: italic;">// PID Regelung Gas</span><br />
169
&nbsp; &nbsp; &nbsp; &nbsp; gas_correction_ipart <span style="color: #339933;">=</span> iFactorGas <span style="color: #339933;">*</span> altitude_differenz_sum<span style="color: #339933;">;</span><br />
170
&nbsp; &nbsp; &nbsp; &nbsp; gas_correction_dpart <span style="color: #339933;">=</span> dFactorGas <span style="color: #339933;">*</span> altitude_velocity <span style="color: #339933;">*-</span><span style="color: #0000dd;">1</span><span style="color: #339933;">;</span><br />
171
&nbsp; &nbsp; &nbsp; &nbsp; gas_correction_ppart <span style="color: #339933;">=</span> pFactorGas <span style="color: #339933;">*</span> altitude_differenz<span style="color: #339933;">;</span><br />
172
<br />
173
&nbsp; &nbsp; &nbsp; &nbsp; gas_correction_final <span style="color: #339933;">=</span> <span style="color: #009900;">&#40;</span>gas_correction_ppart <span style="color: #339933;">+</span> gas_correction_dpart <span style="color: #339933;">+</span> gas_correction_ipart<span style="color: #009900;">&#41;</span> <span style="color: #339933;">/</span> <span style="color: #0000dd;">10</span><span style="color: #339933;">;</span><br />
174
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br />
175
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br />
176
&nbsp; &nbsp; <span style="color: #666666; font-style: italic;">// PID Regelung Nick</span><br />
177
&nbsp; &nbsp; &nbsp; &nbsp; nick_correction_ipart <span style="color: #339933;">=</span> iFactorNick <span style="color: #339933;">*</span> yDirection_differenz_sum<span style="color: #339933;">;</span><br />
178
&nbsp; &nbsp; &nbsp; &nbsp; nick_correction_dpart <span style="color: #339933;">=</span> dFactorNick <span style="color: #339933;">*</span> yDirection_velocity<span style="color: #339933;">;</span><br />
179
&nbsp; &nbsp; &nbsp; &nbsp; nick_correction_ppart <span style="color: #339933;">=</span> pFactorNick <span style="color: #339933;">*</span> reference_flow_y<span style="color: #339933;">;</span><br />
180
<br />
181
&nbsp; &nbsp; &nbsp; &nbsp; nick_correction_final <span style="color: #339933;">=</span> <span style="color: #009900;">&#40;</span>nick_correction_ppart <span style="color: #339933;">+</span> nick_correction_dpart <span style="color: #339933;">+</span> nick_correction_ipart<span style="color: #009900;">&#41;</span> <span style="color: #339933;">/</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">10</span><span style="color: #339933;">;</span><br />
182
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br />
183
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br />
184
&nbsp; &nbsp; <span style="color: #666666; font-style: italic;">// PID Regelung Roll</span><br />
185
&nbsp; &nbsp; &nbsp; &nbsp; roll_correction_ipart <span style="color: #339933;">=</span> iFactorRoll <span style="color: #339933;">*</span> xDirection_differenz_sum<span style="color: #339933;">;</span><br />
186
&nbsp; &nbsp; &nbsp; &nbsp; roll_correction_dpart <span style="color: #339933;">=</span> dFactorRoll <span style="color: #339933;">*</span> xDirection_velocity<span style="color: #339933;">;</span><br />
187
&nbsp; &nbsp; &nbsp; &nbsp; roll_correction_ppart <span style="color: #339933;">=</span> pFactorRoll <span style="color: #339933;">*</span> reference_flow_x<span style="color: #339933;">;</span><br />
188
<br />
189
&nbsp; &nbsp; &nbsp; &nbsp; roll_correction_final <span style="color: #339933;">=</span> <span style="color: #009900;">&#40;</span>roll_correction_ppart <span style="color: #339933;">+</span> roll_correction_dpart <span style="color: #339933;">+</span> roll_correction_ipart<span style="color: #009900;">&#41;</span> <span style="color: #339933;">/</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">10</span><span style="color: #339933;">;</span><br />
190
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br />
191
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//printf(&quot;Final: %f &nbsp; PPART: %f &nbsp; DPART: %f\n&quot;, nick_correction_final, nick_correction_ppart, nick_correction_dpart);</span><br />
192
<br />
193
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br />
194
&nbsp; &nbsp; <span style="color: #666666; font-style: italic;">// Set Limits</span><br />
195
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>gas_correction_final <span style="color: #339933;">&gt;=</span> 20<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
196
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Gas</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">20</span><span style="color: #339933;">;</span><br />
197
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><span style="color: #b1b100;">else</span> <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>gas_correction_final <span style="color: #339933;">&lt;=</span> <span style="color: #339933;">-</span>20<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
198
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Gas</span> <span style="color: #339933;">=</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">20</span><span style="color: #339933;">;</span><br />
199
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><span style="color: #b1b100;">else</span><span style="color: #009900;">&#123;</span><br />
200
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Gas</span> <span style="color: #339933;">=</span> gas_correction_final<span style="color: #339933;">;</span><br />
201
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><br />
202
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>nick_correction_final <span style="color: #339933;">&gt;=</span> 20<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
203
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Nick</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">20</span><span style="color: #339933;">;</span><br />
204
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><span style="color: #b1b100;">else</span> <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>nick_correction_final <span style="color: #339933;">&lt;=</span> <span style="color: #339933;">-</span>20<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
205
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Nick</span> <span style="color: #339933;">=</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">20</span><span style="color: #339933;">;</span><br />
206
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><span style="color: #b1b100;">else</span><span style="color: #009900;">&#123;</span><br />
207
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Nick</span> <span style="color: #339933;">=</span> nick_correction_final<span style="color: #339933;">;</span><br />
208
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><br />
209
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>roll_correction_final <span style="color: #339933;">&gt;=</span> 20<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
210
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Roll</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">20</span><span style="color: #339933;">;</span><br />
211
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><span style="color: #b1b100;">else</span> <span style="color: #b1b100;">if</span><span style="color: #009900;">&#40;</span>roll_correction_final <span style="color: #339933;">&lt;=</span> <span style="color: #339933;">-</span>20<span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
212
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Roll</span> <span style="color: #339933;">=</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">20</span><span style="color: #339933;">;</span><br />
213
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><span style="color: #b1b100;">else</span><span style="color: #009900;">&#123;</span><br />
214
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Roll</span> <span style="color: #339933;">=</span> roll_correction_final<span style="color: #339933;">;</span><br />
215
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><br />
216
<br />
217
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//printf(&quot;%d\n&quot;, reference_altitude/10);</span><br />
218
&nbsp; &nbsp; &nbsp; &nbsp; <a href="http://www.opengroup.org/onlinepubs/009695399/functions/printf.html"><span style="color: #000066;">printf</span></a><span style="color: #009900;">&#40;</span><span style="color: #ff0000;">&quot;Final: %f &nbsp; PPART: %f &nbsp; DPART: %f &nbsp; IPART: %f &nbsp; &nbsp;Gas Correction: %d<span style="color: #000099; font-weight: bold;">\n</span>&quot;</span><span style="color: #339933;">,</span> gas_correction_final<span style="color: #339933;">,</span> gas_correction_ppart<span style="color: #339933;">,</span> gas_correction_dpart<span style="color: #339933;">,</span> gas_correction_ipart<span style="color: #339933;">,</span> fc_correction_data.<span style="color: #202020;">Gas</span> <span style="color: #009900;">&#41;</span><span style="color: #339933;">;</span><br />
219
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//printf(&quot;Final: %f &nbsp; PPART: %f &nbsp; DPART: %f &nbsp; IPART: %f &nbsp; &nbsp;Gas Correction: %d\n&quot;, nick_correction_final, nick_correction_ppart, nick_correction_dpart, nick_correction_ipart, fc_correction_data.Nick );</span><br />
220
&nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Gas</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span><br />
221
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//fc_correction_data.Roll = 0;</span><br />
222
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//fc_correction_data.Nick = 0;</span><br />
223
<br />
224
<br />
225
&nbsp; &nbsp; &nbsp; &nbsp; altitude_old <span style="color: #339933;">=</span> reference_altitude<span style="color: #339933;">;</span><br />
226
&nbsp; &nbsp; &nbsp; &nbsp; xDirection_old <span style="color: #339933;">=</span> reference_flow_x<span style="color: #339933;">;</span><br />
227
&nbsp; &nbsp; &nbsp; &nbsp; yDirection_old <span style="color: #339933;">=</span> reference_flow_y<span style="color: #339933;">;</span><br />
228
<span style="color: #009900;">&#125;</span><br />
229
<br />
230
<span style="color: #666666; font-style: italic;">//&gt;&gt; Transmitting Correction Data</span><br />
231
<span style="color: #666666; font-style: italic;">//------------------------------------------------------------------------------------------------------</span><br />
232
u8 <span style="color: #339933;">*</span>flight_values_stream<span style="color: #339933;">;</span><br />
233
serial_data_struct data_package_flightcontrol<span style="color: #339933;">;</span><br />
234
<span style="color: #993333;">void</span> transmit_flight_data<span style="color: #009900;">&#40;</span><span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
235
&nbsp; &nbsp; &nbsp; &nbsp; flight_values_stream <span style="color: #339933;">=</span> <span style="color: #009900;">&#40;</span><span style="color: #993333;">unsigned</span> <span style="color: #993333;">char</span> <span style="color: #339933;">*</span><span style="color: #009900;">&#41;</span> <span style="color: #339933;">&amp;</span>fc_correction_data<span style="color: #339933;">;</span><br />
236
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//printf(&quot;Correction: %d\n&quot;, fc_correction_data.Gas);</span><br />
237
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #b1b100;">for</span> <span style="color: #009900;">&#40;</span><span style="color: #993333;">int</span> i <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span> i <span style="color: #339933;">&lt;</span> <span style="color: #993333;">sizeof</span><span style="color: #009900;">&#40;</span><span style="color: #993333;">struct</span> str_fc_correction_data<span style="color: #009900;">&#41;</span><span style="color: #339933;">;</span> <span style="color: #339933;">++</span>i<span style="color: #009900;">&#41;</span><br />
238
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#123;</span><br />
239
&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; data_package_flightcontrol.<span style="color: #202020;">data</span><span style="color: #009900;">&#91;</span>i<span style="color: #009900;">&#93;</span> <span style="color: #339933;">=</span> flight_values_stream<span style="color: #009900;">&#91;</span>i<span style="color: #009900;">&#93;</span><span style="color: #339933;">;</span><br />
240
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><br />
241
&nbsp; &nbsp; &nbsp; &nbsp; create_serial_frame<span style="color: #009900;">&#40;</span><span style="color: #0000dd;">1</span><span style="color: #339933;">,</span> <span style="color: #ff0000;">'b'</span><span style="color: #339933;">,</span> <span style="color: #993333;">sizeof</span><span style="color: #009900;">&#40;</span><span style="color: #993333;">struct</span> str_fc_correction_data<span style="color: #009900;">&#41;</span><span style="color: #339933;">,</span> <span style="color: #339933;">&amp;</span>data_package_flightcontrol<span style="color: #009900;">&#41;</span><span style="color: #339933;">;</span><br />
242
&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//printf(&quot;%s\n&quot;, data_package_flightcontrol.txrxdata);</span><br />
243
&nbsp; &nbsp; &nbsp; &nbsp; transmit_data<span style="color: #009900;">&#40;</span>TO_KOPTER<span style="color: #339933;">,</span> <span style="color: #339933;">&amp;</span>data_package_flightcontrol<span style="color: #009900;">&#41;</span><span style="color: #339933;">;</span><br />
244
<span style="color: #009900;">&#125;</span><br />
245
<br />
246
<span style="color: #666666; font-style: italic;">//&gt;&gt; Resetting Flow and Altitude Values</span><br />
247
<span style="color: #666666; font-style: italic;">//------------------------------------------------------------------------------------------------------</span><br />
248
<span style="color: #993333;">void</span> reset_reference_values<span style="color: #009900;">&#40;</span><span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
249
&nbsp; &nbsp; &nbsp; &nbsp; reference_flow_x <span style="color: #339933;">=</span> <span style="color:#800080;">0.0</span><span style="color: #339933;">;</span><br />
250
&nbsp; &nbsp; &nbsp; &nbsp; reference_flow_y <span style="color: #339933;">=</span> <span style="color:#800080;">0.0</span><span style="color: #339933;">;</span><br />
251
&nbsp; &nbsp; &nbsp; &nbsp; reference_altitude <span style="color: #339933;">=</span> <span style="color:#800080;">0.0</span><span style="color: #339933;">;</span><br />
252
<span style="color: #009900;">&#125;</span><br />
253
<br />
254
<span style="color: #666666; font-style: italic;">//&gt;&gt; Initializing flightcontrol</span><br />
255
<span style="color: #666666; font-style: italic;">//------------------------------------------------------------------------------------------------------</span><br />
256
<span style="color: #993333;">void</span> flightcontrol_init<span style="color: #009900;">&#40;</span><span style="color: #009900;">&#41;</span><span style="color: #009900;">&#123;</span><br />
257
&nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Nick</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span> <br />
258
&nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Roll</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span><br />
259
&nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Gier</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span><br />
260
&nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Gas</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span><br />
261
&nbsp; &nbsp; &nbsp; &nbsp; fc_correction_data.<span style="color: #202020;">Config</span> <span style="color: #339933;">=</span> EC_VALID <span style="color: #339933;">|</span> EC_GAS_ADD <span style="color: #339933;">|</span> EC_IGNORE_RC<span style="color: #339933;">;</span> &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #666666; font-style: italic;">//Ignore Remote Control</span><br />
262
<span style="color: #009900;">&#125;</span><br />
263
&nbsp;  </div>
264
</div>
265
<div id="footer">
266
  <p style="padding:0; margin:0"><small>Powered by <a href="http://www.websvn.info/">WebSVN</a> 2.3.3 und <a href="http://subversion.tigris.org">Subversion</a> 1.6.17 &nbsp; &nbsp; &#x2713; <a href="http://validator.w3.org/check?uri=http://svn.mikrokopter.de/websvn/filedetails.php?repname=Projects%26path=%2FRaspberryPi%2FExPlat%2Fflightcontrol.c%26template=%26language=de">XHTML</a> &amp; <a href="http://jigsaw.w3.org/css-validator/validator?uri=http://svn.mikrokopter.de/websvn/filedetails.php?repname=Projects%26path=%2FRaspberryPi%2FExPlat%2Fflightcontrol.c%26template=%26language=de">CSS</a></small></p>
267
</div>
268
</body>
269
</html>