Subversion Repositories FlightCtrl

/*#######################################################################################

Flight Control

#######################################################################################*/

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) 04.2007 Holger Buss

// + Nur für den privaten Gebrauch

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),

// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.

// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt

// + bzgl. der Nutzungsbedingungen aufzunehmen.

// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,

// + Verkauf von Luftbildaufnahmen, usw.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,

// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts

// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"

// + eindeutig als Ursprung verlinkt werden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion

// + Benutzung auf eigene Gefahr

// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur

// + mit unserer Zustimmung zulässig

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Redistributions of source code (with or without modifications) must retain the above copyright notice,

// + this list of conditions and the following disclaimer.

// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived

// +     from this software without specific prior written permission.

// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet

// +     for non-commercial use (directly or indirectly)

// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted

// +     with our written permission

// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be

// +     clearly linked as origin

// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed

// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE

// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE

// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE

// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR

// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF

// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS

// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)

// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

// +  POSSIBILITY OF SUCH DAMAGE.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include <stdlib.h>

#include <avr/io.h>

#include "main.h"

#include "eeprom.h"

#include "timer0.h"

#include "_Settings.h"

#include "analog.h"

#include "fc.h"

#include "gps.h"

#include "uart.h"

#include "rc.h"

#include "twimaster.h"

#include "mm3.h"

volatile unsigned int I2CTimeout = 100;

// gyro readings

volatile int16_t ReadingPitch, ReadingRoll, ReadingYaw;

// gyro neutral readings

volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0;

volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0;

// mean accelerations

volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;

// neutral acceleration readings

volatile int16_t NeutralAccX=0, NeutralAccY=0;

volatile float NeutralAccZ = 0;

// attitude gyro integrals

volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0;

volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0;

volatile int32_t IntegralYaw = 0;

volatile int32_t Reading_IntegralPitch = 0, Reading_IntegralPitch2 = 0;

volatile int32_t Reading_IntegralRoll = 0,  Reading_IntegralRoll2 = 0;

volatile int32_t Reading_IntegralYaw = 0,   Reading_IntegralYaw2 = 0;

volatile int32_t MeanIntegralPitch, MeanIntegralPitch2;

volatile int32_t MeanIntegralRoll, MeanIntegralRoll2;

// attitude acceleration integrals

volatile int32_t IntegralAccPitch = 0,IntegralAccRoll = 0,IntegralAccZ = 0;

volatile int32_t Reading_Integral_Top = 0;

// compass course

volatile int16_t CompassHeading = 0;

volatile int16_t CompassCourse = 0;

volatile int16_t CompassOffCourse = 0;

// flags

uint8_t EmergencyLanding = 0;

uint8_t HightControlActive = 0;

uint8_t MotorsOn = 0;

int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L;

float GyroFactor;

float IntegralFactor;

volatile int16_t  DiffPitch, DiffRoll;

int16_t  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;

// setpoints for motors

volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left;

// stick values derived by rc channels readings

int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickGas = 0;

// stick values derived by uart inputs

int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHightValue = -20;

int MaxStickPitch = 0, MaxStickRoll = 0;

int16_t ReadingHight = 0;

int16_t SetPointHight = 0;

int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0;

float Ki =  FACTOR_I;

uint8_t Looping_Pitch = 0, Looping_Roll = 0;

uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;

fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100};

/************************************************************************/

/*  Creates numbeeps beeps at the speaker                               */

/************************************************************************/

void Beep(uint8_t numbeeps)

{

        while(numbeeps--)

        {

                if(MotorsOn) return; //auf keinen Fall im Flug!

                BeepTime = 100; // 0.1 second

                Delay_ms(250); // blocks 250 ms as pause to next beep,

                // this will block the flight control loop,

                // therefore do not use this funktion if motors are running

        }

}

/************************************************************************/

/*  Neutral Readings                                                    */

/************************************************************************/

void SetNeutral(void)

{

        NeutralAccX = 0;

        NeutralAccY = 0;

        NeutralAccZ = 0;

    AdNeutralPitch = 0;

        AdNeutralRoll = 0;

        AdNeutralYaw = 0;

    FCParam.AchsKopplung1 = 0;

    FCParam.AchsGegenKopplung1 = 0;

    CalibMean();

    Delay_ms_Mess(100);

        CalibMean();

    if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Hight Control activated?

    {

                if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();

    }

        AdNeutralPitch = AdValueGyrPitch;

        AdNeutralRoll  = AdValueGyrRoll;

        AdNeutralYaw   = AdValueGyrYaw;

        StartNeutralRoll  = AdNeutralRoll;

        StartNeutralPitch = AdNeutralPitch;

    if(GetParamByte(PID_ACC_PITCH) > 4)

    {

                NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY;

                NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY;

                NeutralAccZ = Current_AccZ;

    }

    else

    {

                NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH);

            NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);

            NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z);

    }

        Reading_IntegralPitch = 0;

    Reading_IntegralPitch2 = 0;

    Reading_IntegralRoll = 0;

    Reading_IntegralRoll2 = 0;

    Reading_IntegralYaw = 0;

    ReadingPitch = 0;

    ReadingRoll = 0;

    ReadingYaw = 0;

    StartAirPressure = AirPressure;

    HightD = 0;

    Reading_Integral_Top = 0;

    CompassCourse = CompassHeading;

    GPS_Neutral();

    BeepTime = 50;

        TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;

        TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;

    ExternHightValue = 0;

}

/************************************************************************/

/*  Averaging Measurement Readings                                      */

/************************************************************************/

void Mean(void)

{

    static int32_t tmpl,tmpl2;

 // Get offset corrected gyro readings

    ReadingYaw   = AdNeutralYaw    - AdValueGyrYaw;

    ReadingRoll  = AdValueGyrRoll  - AdNeutralRoll;

    ReadingPitch = AdValueGyrPitch - AdNeutralPitch;

        DebugOut.Analog[26] = ReadingPitch;

        DebugOut.Analog[28] = ReadingRoll;

// Acceleration Sensor

        Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L;

        Mean_AccRoll  = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L;

        Mean_AccTop   = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L;

    IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch;

    IntegralAccRoll  += ACC_AMPLIFY * AdValueAccRoll;

    IntegralAccZ     += Current_AccZ - NeutralAccZ;

// Yaw

    Reading_IntegralYaw +=  ReadingYaw;

    Reading_IntegralYaw2 += ReadingYaw;

// Coupling fraction

        if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))

        {

                tmpl = Reading_IntegralPitch / 4096L;

                tmpl *= ReadingYaw;

                tmpl *= FCParam.AchsKopplung1;  //125

                tmpl /= 2048L;

                tmpl2 = Reading_IntegralRoll / 4096L;

                tmpl2 *= ReadingYaw;

                tmpl2 *= FCParam.AchsKopplung1;

                tmpl2 /= 2048L;

        }

        else  tmpl = tmpl2 = 0;

// Roll

        ReadingRoll += tmpl;

        ReadingRoll += (tmpl2 * FCParam.AchsGegenKopplung1) / 512L; //109

        Reading_IntegralRoll2 += ReadingRoll;

        Reading_IntegralRoll +=  ReadingRoll - AttitudeCorrectionRoll;

        if(Reading_IntegralRoll > TurnOver180Roll)

        {

                Reading_IntegralRoll  = -(TurnOver180Roll - 10000L);

                Reading_IntegralRoll2 = Reading_IntegralRoll;

        }

        if(Reading_IntegralRoll < -TurnOver180Roll)

        {

                Reading_IntegralRoll =  (TurnOver180Roll - 10000L);

                Reading_IntegralRoll2 = Reading_IntegralRoll;

        }

        if(AdValueGyrRoll < 15)   ReadingRoll = -1000;

        if(AdValueGyrRoll <  7)   ReadingRoll = -2000;

        if(BoardRelease == 10)

         {

                if(AdValueGyrRoll > 1010) ReadingRoll = +1000;

                if(AdValueGyrRoll > 1017) ReadingRoll = +2000;

         }

         else

         {

                if(AdValueGyrRoll > 2020) ReadingRoll = +1000;

                if(AdValueGyrRoll > 2034) ReadingRoll = +2000;

         }

// Pitch

        ReadingPitch -= tmpl2;

        ReadingPitch -= (tmpl*FCParam.AchsGegenKopplung1) / 512L;

        Reading_IntegralPitch2 += ReadingPitch;

        Reading_IntegralPitch  += ReadingPitch - AttitudeCorrectionPitch;

        if(Reading_IntegralPitch > TurnOver180Pitch)

        {

         Reading_IntegralPitch = -(TurnOver180Pitch - 10000L);

         Reading_IntegralPitch2 = Reading_IntegralPitch;

        }

        if(Reading_IntegralPitch < -TurnOver180Pitch)

        {

         Reading_IntegralPitch =  (TurnOver180Pitch - 10000L);

         Reading_IntegralPitch2 = Reading_IntegralPitch;

        }

        if(AdValueGyrPitch < 15)   ReadingPitch = -1000;

        if(AdValueGyrPitch <  7)   ReadingPitch = -2000;

        if(BoardRelease == 10)

         {

                if(AdValueGyrPitch > 1010) ReadingPitch = +1000;

                if(AdValueGyrPitch > 1017) ReadingPitch = +2000;

         }

         else

         {

                if(AdValueGyrPitch > 2020) ReadingPitch = +1000;

                if(AdValueGyrPitch > 2034) ReadingPitch = +2000;

         }

// start ADC

    ADC_Enable();

    IntegralYaw  = Reading_IntegralYaw;

    IntegralPitch = Reading_IntegralPitch;

    IntegralRoll = Reading_IntegralRoll;

    IntegralPitch2 = Reading_IntegralPitch2;

    IntegralRoll2 = Reading_IntegralRoll2;

        if(ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER && !Looping_Pitch && !Looping_Roll)

        {

        if(ReadingPitch > 200)       ReadingPitch += 4 * (ReadingPitch - 200);

        else if(ReadingPitch < -200) ReadingPitch += 4 * (ReadingPitch + 200);

        if(ReadingRoll > 200)        ReadingRoll  += 4 * (ReadingRoll - 200);

        else if(ReadingRoll < -200)  ReadingRoll  += 4 * (ReadingRoll + 200);

        }

        //update poti values by rc-signals (why not +127?)

    if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;

    if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;

    if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;

    if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;

        //limit poti values

    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;

    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;

    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;

    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;

}

/************************************************************************/

/*  Averaging Measurement Readings  for Calibration                     */

/************************************************************************/

void CalibMean(void)

{

    // stop ADC to avoid changing values during calculation

        ADC_Disable();

        ReadingPitch = AdValueGyrPitch;

        ReadingRoll = AdValueGyrRoll;

        ReadingYaw = AdValueGyrYaw;

        Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch;

        Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll;

        Mean_AccTop = (int32_t)AdValueAccTop;

   // start ADC

    ADC_Enable();

    //update poti values by rc-signals (why not +127?)

    if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;

    if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;

    if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;

    if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;

        //limit poti values

    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;

    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;

    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;

    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;

        TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;

        TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;

}

/************************************************************************/

/*  Transmit Motor Data via I2C                                         */

/************************************************************************/

void SendMotorData(void)

{

    if(MOTOR_OFF || !MotorsOn)

    {

        Motor_Rear = 0;

        Motor_Front = 0;

        Motor_Right = 0;

        Motor_Left = 0;

        if(MotorTest[0]) Motor_Front = MotorTest[0];

        if(MotorTest[1]) Motor_Rear = MotorTest[1];

        if(MotorTest[2]) Motor_Left = MotorTest[2];

        if(MotorTest[3]) Motor_Right = MotorTest[3];

     }

    DebugOut.Analog[12] = Motor_Front;

    DebugOut.Analog[13] = Motor_Rear;

    DebugOut.Analog[14] = Motor_Left;

    DebugOut.Analog[15] = Motor_Right;

    //Start I2C Interrupt Mode

    twi_state = 0;

    motor = 0;

    i2c_start();

}

/************************************************************************/

/*  Maps the parameter to poti values                                   */

/************************************************************************/

void ParameterMapping(void)

{

 #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}

 CHK_POTI(FCParam.MaxHight,ParamSet.MaxHight,0,255);

 CHK_POTI(FCParam.AirPressure_D,ParamSet.AirPressure_D,0,100);

 CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100);

 CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_ACC_Effect,0,255);

 CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255);

 CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255);

 CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255);

 CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255);

 CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255);

 CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255);

 CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255);

 CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255);

 CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255);

 CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255);

 CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255);

 CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255);

 CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255);

 CHK_POTI(FCParam.LoopGasLimit,ParamSet.LoopGasLimit,0,255);

 CHK_POTI(FCParam.AchsKopplung1,    ParamSet.AchsKopplung1,0,255);

 CHK_POTI(FCParam.AchsGegenKopplung1,ParamSet.AchsGegenKopplung1,0,255);

 CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255);

 Ki = (float) FCParam.I_Factor * FACTOR_I;

}

//############################################################################

//

void MotorRegler(void)

//############################################################################

{

         int MotorValue, pd_ergebnis, h, tmp_int;

         int YawMixingFraction, GasMixingFraction;

     static long SumPitch = 0, SumRoll = 0;

     static long SetPointYaw = 0, tmp_long, tmp_long2;

     static long IntegralErrorPitch = 0;

     static long IntegralErrorRoll = 0;

         static unsigned int RcLostTimer;

         static unsigned char delay_neutral = 0;

         static unsigned char delay_einschalten = 0,delay_ausschalten = 0;

         static unsigned int  modell_fliegt = 0;

     static int hoehenregler = 0;

     static char TimerDebugOut = 0;

     static char StoreNewCompassCourse = 0;

     static long CorrectionPitch, CorrectionRoll;

        Mean();

    GRN_ON;

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// Gaswert ermitteln

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

        GasMixingFraction = StickGas;

    if(GasMixingFraction < 0) GasMixingFraction = 0;

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// Emfang schlecht

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

   if(SenderOkay < 100)

        {

        if(!PcZugriff)

         {

           if(BeepModulation == 0xFFFF)

            {

             BeepTime = 15000; // 1.5 seconds

             BeepModulation = 0x0C00;

            }

         }

        if(RcLostTimer) RcLostTimer--;

        else

         {

          MotorsOn = 0;

          EmergencyLanding = 0;

         }

        ROT_ON;

        if(modell_fliegt > 2000)  // wahrscheinlich in der Luft --> langsam absenken

            {

            GasMixingFraction = ParamSet.EmergencyGas;

            EmergencyLanding = 1;

            PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0;

            PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;

            PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;

            }

         else MotorsOn = 0;

        }

        else

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// Emfang gut

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

        if(SenderOkay > 140)

            {

            EmergencyLanding = 0;

            RcLostTimer = ParamSet.EmergencyGasDuration * 50;

            if(GasMixingFraction > 40)

                {

                if(modell_fliegt < 0xffff) modell_fliegt++;

                }

            if((modell_fliegt < 200) || (GasMixingFraction < 40))

                {

                SumPitch = 0;

                SumRoll = 0;

                Reading_IntegralYaw = 0;

                Reading_IntegralYaw2 = 0;

                }

            if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && MotorsOn == 0)

                {

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// auf Nullwerte kalibrieren

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

                if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)  // Neutralwerte

                    {

                    if(++delay_neutral > 200)  // nicht sofort

                        {

                        GRN_OFF;

                        MotorsOn = 0;

                        delay_neutral = 0;

                        modell_fliegt = 0;

                        if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)

                        {

                         unsigned char setting=1;

                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1;

                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2;

                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3;

                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4;

                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5;

                         SetActiveParamSet(setting);  // aktiven Datensatz merken

                        }

                        if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Höhenregelung aktiviert?

                          {

                             if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();

                          }

                            ParamSet_ReadFromEEProm(GetActiveParamSet());

                        SetNeutral();

                        Beep(GetActiveParamSet());

                        }

                    }

                 else

                if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)  // ACC Neutralwerte speichern

                    {

                    if(++delay_neutral > 200)  // nicht sofort

                        {

                        GRN_OFF;

                        SetParamWord(PID_ACC_PITCH,0xFFFF); // Werte löschen

                        MotorsOn = 0;

                        delay_neutral = 0;

                        modell_fliegt = 0;

                        SetNeutral();

                        // ACC-NeutralWerte speichern

                        SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX);

                        SetParamWord(PID_ACC_ROLL,  (uint16_t)NeutralAccY);

                        SetParamWord(PID_ACC_Z,     (uint16_t)NeutralAccZ);

                        Beep(GetActiveParamSet());

                        }

                    }

                 else delay_neutral = 0;

                }

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// Gas ist unten

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

            if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < 35-120)

                {

                // Starten

                if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)

                    {

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// Einschalten

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

                    if(++delay_einschalten > 200)

                        {

                        delay_einschalten = 200;

                        modell_fliegt = 1;

                        MotorsOn = 1;

                        SetPointYaw = 0;

                        Reading_IntegralYaw = 0;

                        Reading_IntegralYaw2 = 0;

                        Reading_IntegralPitch = 0;

                        Reading_IntegralRoll = 0;

                        Reading_IntegralPitch2 = IntegralPitch;

                        Reading_IntegralRoll2 = IntegralRoll;

                        SumPitch = 0;

                        SumRoll = 0;

                        }

                    }

                    else delay_einschalten = 0;

                //Auf Neutralwerte setzen

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// Auschalten

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

                if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)

                    {

                    if(++delay_ausschalten > 200)  // nicht sofort

                        {

                        MotorsOn = 0;

                        delay_ausschalten = 200;

                        modell_fliegt = 0;

                        }

                    }

                else delay_ausschalten = 0;

                }

            }

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// neue Werte von der Funke

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

 if(!NewPpmData-- || EmergencyLanding)

  {

    int tmp_int;

    ParameterMapping();

    StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4;

    StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D;

    StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;

    StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;

    StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];

        StickGas  = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;

   if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch)

     MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); else MaxStickPitch--;

   if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll)

     MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); else MaxStickRoll--;

   if(EmergencyLanding)  {MaxStickPitch = 0; MaxStickRoll = 0;}

    GyroFactor     = ((float)FCParam.Gyro_P + 10.0) / 256.0;

    IntegralFactor = ((float) FCParam.Gyro_I) / 44000;

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//+ Digitale Steuerung per DubWise

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#define KEY_VALUE (FCParam.UserParam1 * 4)  //(Poti3 * 8)

if(DubWiseKeys[1]) BeepTime = 10;

    if(DubWiseKeys[1] & DUB_KEY_UP)    tmp_int = KEY_VALUE;   else

    if(DubWiseKeys[1] & DUB_KEY_DOWN)  tmp_int = -KEY_VALUE;  else   tmp_int = 0;

    ExternStickPitch= (ExternStickPitch* 7 + tmp_int) / 8;

    if(DubWiseKeys[1] & DUB_KEY_LEFT)  tmp_int = KEY_VALUE; else

    if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0;

    ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;

    if(DubWiseKeys[0] & 8)  ExternStickYaw = 50;else

    if(DubWiseKeys[0] & 4)  ExternStickYaw =-50;else ExternStickYaw = 0;

    if(DubWiseKeys[0] & 2)  ExternHightValue++;

    if(DubWiseKeys[0] & 16) ExternHightValue--;

    StickPitch += ExternStickPitch/ 8;

    StickRoll += ExternStickRoll / 8;

    StickYaw += ExternStickYaw;

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

//+ Analoge Steuerung per Seriell

//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

   if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128)

    {

         StickPitch += (int) ExternControl.Pitch * (int) ParamSet.Stick_P;

         StickRoll += (int) ExternControl.Roll * (int) ParamSet.Stick_P;

         StickYaw += ExternControl.Yaw;

     ExternHightValue =  (int) ExternControl.Hight * (int)ParamSet.Hight_Gain;

     if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;

    }

    if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) IntegralFactor =  0;

    if(GyroFactor < 0) GyroFactor = 0;

    if(IntegralFactor < 0) IntegralFactor = 0;

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// Looping?

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

  if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT)  Looping_Left = 1;

  else

   {

     {

      if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0;

     }

   }

  if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1;

   else