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<span style="color: #339933;">#include &quot;main.h&quot;</span><br />
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<span style="color: #339933;">#include &quot;flightcontrol.h&quot;</span><br />
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<br />
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<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 />
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<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 />
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<span style="color: #993333;">int</span> reference_flow_x<span style="color: #339933;">;</span><br />
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<span style="color: #993333;">int</span> reference_flow_y<span style="color: #339933;">;</span><br />
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<br />
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<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 />
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<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 />
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<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 />
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<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 />
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<br />
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<span style="color: #993333;">int</span> altitude_old<span style="color: #339933;">;</span><br />
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<span style="color: #993333;">int</span> altitude_velocity<span style="color: #339933;">;</span><br />
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<span style="color: #993333;">int</span> xDirection_old<span style="color: #339933;">;</span><br />
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<span style="color: #993333;">int</span> xDirection_velocity<span style="color: #339933;">;</span><br />
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<span style="color: #993333;">int</span> yDirection_old<span style="color: #339933;">;</span><br />
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<span style="color: #993333;">int</span> yDirection_velocity<span style="color: #339933;">;</span><br />
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<br />
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<span style="color: #993333;">float</span> gas_correction_dpart<span style="color: #339933;">;</span><br />
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<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 />
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<span style="color: #993333;">float</span> gas_correction_ppart<span style="color: #339933;">;</span><br />
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<span style="color: #993333;">float</span> gas_correction_final<span style="color: #339933;">;</span><br />
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<span style="color: #993333;">float</span> nick_correction_dpart<span style="color: #339933;">;</span><br />
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<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 />
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<span style="color: #993333;">float</span> nick_correction_ppart<span style="color: #339933;">;</span><br />
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<span style="color: #993333;">float</span> nick_correction_final<span style="color: #339933;">;</span><br />
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<span style="color: #993333;">float</span> roll_correction_dpart<span style="color: #339933;">;</span><br />
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<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 />
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<span style="color: #993333;">float</span> roll_correction_ppart<span style="color: #339933;">;</span><br />
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<span style="color: #993333;">float</span> roll_correction_final<span style="color: #339933;">;</span><br />
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<br />
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<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 />
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<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 />
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<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 />
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<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 />
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<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 />
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<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 />
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<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 />
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<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 />
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<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 />
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<br />
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<span style="color: #666666; font-style: italic;">//&gt;&gt; Performing Flight Correction</span><br />
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<span style="color: #666666; font-style: italic;">//------------------------------------------------------------------------------------------------------</span><br />
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<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 />
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&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 />
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&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 />
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<br />
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&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 />
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&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><br />
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&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 />
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&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 />
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&nbsp; &nbsp; &nbsp; &nbsp; <span style="color: #009900;">&#125;</span><br />
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<br />
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&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 />
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&nbsp; &nbsp; &nbsp; &nbsp; reference_altitude <span style="color: #339933;">=</span> <span style="color:#800080;">0.0</span><span style="color: #339933;">;</span><br />
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<span style="color: #009900;">&#125;</span><br />
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<br />
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<span style="color: #666666; font-style: italic;">//&gt;&gt; Initializing flightcontrol</span><br />
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<span style="color: #666666; font-style: italic;">//------------------------------------------------------------------------------------------------------</span><br />
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<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 />
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&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 />
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&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 />
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&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 />
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&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 />
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&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 />
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<span style="color: #009900;">&#125;</span><br />
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&nbsp;  </div>
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