WebSVN - FlightCtrl - Blame - Rev 2345 - /branches/V0.91L_ACC-HH

Rev	Author	Line No.	Line
1	ingob	1	/*#######################################################################################
		2	Flight Control
		3	#######################################################################################*/
		4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		5	// + www.MikroKopter.com
		6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050	holgerb	7	// + Software Nutzungsbedingungen (english version: see below)
		8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
		9	// + Der Lizenzgeber r�umt dem Kunden ein nicht-ausschlie�liches, zeitlich und r�umlich* unbeschr�nktes Recht ein, die im den
		10	// + Mikrocontroller verwendete Firmware f�r die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
		11	// + - nachfolgend Software genannt - nur f�r private Zwecke zu nutzen.
		12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zul�ssig.
1	ingob	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050	holgerb	14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich gesch�tzt. Alle Rechte an der Software sowie an sonstigen im
		15	// + Rahmen der Vertragsanbahnung und Vertragsdurchf�hrung �berlassenen Unterlagen stehen im Verh�ltnis der Vertragspartner ausschlie�lich dem Lizenzgeber zu.
		16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
		17	// + sonstige der Programmidentifikation dienenden Merkmale d�rfen vom Kunden nicht ver�ndert oder unkenntlich gemacht werden.
		18	// + Der Kunde trifft angemessene Vorkehrungen f�r den sicheren Einsatz der Software. Er wird die Software gr�ndlich auf deren
		19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
		20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zul�ssig - begrenzt in H�he des typischen und vorhersehbaren
		21	// + Schadens. Die gesetzliche Haftung bei Personensch�den und nach dem Produkthaftungsgesetz bleibt unber�hrt. Dem Lizenzgeber steht jedoch der Einwand
		22	// + des Mitverschuldens offen.
		23	// + Der Kunde trifft angemessene Vorkehrungen f�r den Fall, dass die Software ganz oder teilweise nicht ordnungsgem�� arbeitet.
		24	// + Er wird die Software gr�ndlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
		25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
		26	// + Der Kunde ist dar�ber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchf�hrung erforderlichen Umfang
		27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte �bermittelt.
		28	// + *) Die r�umliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
		29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
		30	// + Hinweis: Informationen �ber erweiterte Nutzungsrechte (wie z.B. Nutzung f�r nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verf�gbar.
1	ingob	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050	holgerb	32	// + Software LICENSING TERMS
1	ingob	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050	holgerb	34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
		35	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
		36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
		37	// + The Software may only be used with the Licensor's products.
		38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
		39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
		40	// + agreement shall be the property of the Licensor.
		41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
		42	// + features that can be used to identify the program may not be altered or defaced by the customer.
		43	// + The customer shall be responsible for taking reasonable precautions
		44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
		45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
		46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
		47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
		48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
		49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
		50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
		51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
		52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
		53	// + #### END OF LICENSING TERMS ####
		54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
1	ingob	55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		56
		57	#include "main.h"
1320	hbuss	58	#include "mymath.h"
1330	killagreg	59	#include "isqrt.h"
1	ingob	60
1352	hbuss	61	unsigned char h,m,s;
		62	unsigned int BaroExpandActive = 0;
1153	hbuss	63	int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll;
1166	hbuss	64	int TrimNick, TrimRoll;
927	hbuss	65	int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
1703	holgerb	66	int Mittelwert_AccNick, Mittelwert_AccRoll;
1643	holgerb	67	unsigned int NeutralAccX=0, NeutralAccY=0;
805	hbuss	68	int NaviAccNick, NaviAccRoll,NaviCntAcc = 0;
1639	holgerb	69	int NeutralAccZ = 0;
2316	holgerb	70	signed char NeutralAccZfine = 0;
1683	killagreg	71	unsigned char ControlHeading = 0;// in 2�
693	hbuss	72	long IntegralNick = 0,IntegralNick2 = 0;
		73	long IntegralRoll = 0,IntegralRoll2 = 0;
		74	long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
		75	long Integral_Gier = 0;
		76	long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0;
		77	long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0;
		78	long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
		79	long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2;
1685	holgerb	80	long SummeNick=0,SummeRoll=0;
1	ingob	81	volatile long Mess_Integral_Hoch = 0;
1840	holgerb	82	int KompassValue = -1;
1837	holgerb	83	int KompassSollWert = 0;
1941	holgerb	84	//int KompassRichtung = 0;
1839	holgerb	85	char CalculateCompassTimer = 100;
		86	unsigned char KompassFusion = 32;
		87	unsigned int KompassSignalSchlecht = 50;
855	hbuss	88	unsigned char MAX_GAS,MIN_GAS;
1	ingob	89	unsigned char HoehenReglerAktiv = 0;
880	hbuss	90	unsigned char TrichterFlug = 0;
395	hbuss	91	long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
693	hbuss	92	long ErsatzKompass;
		93	int ErsatzKompassInGrad; // Kompasswert in Grad
		94	int GierGyroFehler = 0;
1211	hbuss	95	char GyroFaktor,GyroFaktorGier;
		96	char IntegralFaktor,IntegralFaktorGier;
1153	hbuss	97	int DiffNick,DiffRoll;
1916	holgerb	98	int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023;
1943	holgerb	99	int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
1377	hbuss	100	//int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
1391	killagreg	101	unsigned char Poti[9] = {0,0,0,0,0,0,0,0};
1	ingob	102	volatile unsigned char SenderOkay = 0;
1698	holgerb	103	char MotorenEin = 0,StartTrigger = 0;
1246	killagreg	104	long HoehenWert = 0;
		105	long SollHoehe = 0;
1942	holgerb	106	signed int AltitudeSetpointTrimming = 0;
1855	holgerb	107	long FromNC_AltitudeSetpoint = 0;
		108	unsigned char FromNC_AltitudeSpeed = 0;
1862	holgerb	109	unsigned char carefree_old = 50; // to make the Beep when switching
1942	holgerb	110	signed char WaypointTrimming = 0;
1840	holgerb	111	int CompassGierSetpoint = 0;
2009	holgerb	112	unsigned char CalibrationDone = 0;
2061	holgerb	113	char NeueKompassRichtungMerken = 0;
1692	holgerb	114	int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0;
1153	hbuss	115	//float Ki = FAKTOR_I;
1676	holgerb	116	int Ki = 10300 / 33;
395	hbuss	117	unsigned char Looping_Nick = 0,Looping_Roll = 0;
		118	unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
1	ingob	119
		120	unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250
2342	holgerb	121	unsigned char Parameter_HoehenSchalter = 0; // Wert : 0-250
1	ingob	122	unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32
		123	unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
		124	unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250
1283	hbuss	125	unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250
1111	hbuss	126	unsigned char Parameter_Gyro_D = 8; // Wert : 0-250
173	holgerb	127	unsigned char Parameter_Gyro_P = 150; // Wert : 10-250
1	ingob	128	unsigned char Parameter_Gyro_I = 150; // Wert : 0-250
1322	hbuss	129	unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250
		130	unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250
1	ingob	131	unsigned char Parameter_Gier_P = 2; // Wert : 1-20
		132	unsigned char Parameter_I_Faktor = 10; // Wert : 1-20
		133	unsigned char Parameter_UserParam1 = 0;
		134	unsigned char Parameter_UserParam2 = 0;
		135	unsigned char Parameter_UserParam3 = 0;
		136	unsigned char Parameter_UserParam4 = 0;
499	hbuss	137	unsigned char Parameter_UserParam5 = 0;
		138	unsigned char Parameter_UserParam6 = 0;
		139	unsigned char Parameter_UserParam7 = 0;
		140	unsigned char Parameter_UserParam8 = 0;
1	ingob	141	unsigned char Parameter_ServoNickControl = 100;
1232	hbuss	142	unsigned char Parameter_ServoRollControl = 100;
2296	holgerb	143	unsigned char Parameter_ServoNickComp = 50;
		144	unsigned char Parameter_ServoRollComp = 85;
173	holgerb	145	unsigned char Parameter_LoopGasLimit = 70;
1120	hbuss	146	unsigned char Parameter_AchsKopplung1 = 90;
		147	unsigned char Parameter_AchsKopplung2 = 65;
		148	unsigned char Parameter_CouplingYawCorrection = 64;
		149	//unsigned char Parameter_AchsGegenKopplung1 = 0;
499	hbuss	150	unsigned char Parameter_DynamicStability = 100;
921	hbuss	151	unsigned char Parameter_J16Bitmask; // for the J16 Output
		152	unsigned char Parameter_J16Timing; // for the J16 Output
		153	unsigned char Parameter_J17Bitmask; // for the J17 Output
		154	unsigned char Parameter_J17Timing; // for the J17 Output
1051	killagreg	155	unsigned char Parameter_NaviGpsGain;
		156	unsigned char Parameter_NaviGpsP;
		157	unsigned char Parameter_NaviGpsI;
		158	unsigned char Parameter_NaviGpsD;
2344	holgerb	159	unsigned char Parameter_NaviGpsA;
993	hbuss	160	unsigned char Parameter_NaviOperatingRadius;
		161	unsigned char Parameter_NaviWindCorrection;
		162	unsigned char Parameter_NaviSpeedCompensation;
921	hbuss	163	unsigned char Parameter_ExternalControl;
1916	holgerb	164	unsigned char Parameter_GlobalConfig;
		165	unsigned char Parameter_ExtraConfig;
1966	holgerb	166	unsigned char Parameter_MaximumAltitude;
1403	hbuss	167	unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
1668	holgerb	168	unsigned char CareFree = 0;
1876	holgerb	169	const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15� steps
1622	killagreg	170
492	hbuss	171	signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
614	hbuss	172	int MaxStickNick = 0,MaxStickRoll = 0;
871	hbuss	173	unsigned int modell_fliegt = 0;
1861	holgerb	174	volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0;
1121	hbuss	175	long GIER_GRAD_FAKTOR = 1291;
1153	hbuss	176	signed int KopplungsteilNickRoll,KopplungsteilRollNick;
1209	hbuss	177	signed int tmp_motorwert[MAX_MOTORS];
1591	holgerb	178	char VarioCharacter = ' ';
2028	holgerb	179	unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing
2230	holgerb	180	unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while
2309	holgerb	181	signed int Variance = 0;
		182	signed int CosAttitude; // for projection of hoover gas
		183	unsigned char ACC_AltitudeControl = 0;
1591	holgerb	184
1639	holgerb	185	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		186	// Debugwerte zuordnen
		187	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		188	void CopyDebugValues(void)
		189	{
		190	DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
		191	DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
		192	DebugOut.Analog[2] = Mittelwert_AccNick / 4;
		193	DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
1660	holgerb	194	DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier;
2309	holgerb	195	DebugOut.Analog[5] = HoehenWert/10;
		196	DebugOut.Analog[6] = Aktuell_az;//AdWertAccHoch;//(Mess_Integral_Hoch / 512);
1639	holgerb	197	DebugOut.Analog[8] = KompassValue;
		198	DebugOut.Analog[9] = UBat;
		199	DebugOut.Analog[10] = SenderOkay;
1941	holgerb	200	DebugOut.Analog[11] = ErsatzKompassInGrad;
1702	holgerb	201	DebugOut.Analog[12] = Motor[0].SetPoint;
		202	DebugOut.Analog[13] = Motor[1].SetPoint;
		203	DebugOut.Analog[14] = Motor[2].SetPoint;
		204	DebugOut.Analog[15] = Motor[3].SetPoint;
1639	holgerb	205	DebugOut.Analog[20] = ServoNickValue;
2322	holgerb	206	DebugOut.Analog[21] = HoverGas;
1639	holgerb	207	DebugOut.Analog[22] = Capacity.ActualCurrent;
		208	DebugOut.Analog[23] = Capacity.UsedCapacity;
2309	holgerb	209	DebugOut.Analog[24] = SollHoehe/10;
1839	holgerb	210	DebugOut.Analog[27] = KompassSollWert;
1682	holgerb	211	DebugOut.Analog[29] = Capacity.MinOfMaxPWM;
1639	holgerb	212	DebugOut.Analog[30] = GPS_Nick;
		213	DebugOut.Analog[31] = GPS_Roll;
1702	holgerb	214	if(VersionInfo.HardwareError[0] \|\| VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 1; else DebugOut.Status[1] &= 0xfe;
2316	holgerb	215	//DebugOut.Analog[16] = Variance;
		216	//DebugOut.Analog[17] = VarioMeter;
		217	//DebugOut.Analog[18] = HoehenWertF;
		218	//DebugOut.Analog[25] = Parameter_Hoehe_P;
		219	//DebugOut.Analog[26] = Parameter_Luftdruck_D;
1639	holgerb	220	}
		221
1760	holgerb	222
1232	hbuss	223	void Piep(unsigned char Anzahl, unsigned int dauer)
1	ingob	224	{
2263	holgerb	225	unsigned int wait = 0;
1232	hbuss	226	if(MotorenEin) return; //auf keinen Fall im Flug!
1966	holgerb	227	GRN_OFF;
1	ingob	228	while(Anzahl--)
		229	{
1232	hbuss	230	beeptime = dauer;
2263	holgerb	231	wait = dauer;
		232	while(beeptime \|\| wait)
		233	{
		234	if(UpdateMotor)
		235	{
		236	UpdateMotor = 0;
		237	if(!beeptime) wait--;
		238	LIBFC_Polling();
		239	};
		240	}
1	ingob	241	}
1966	holgerb	242	GRN_ON;
1	ingob	243	}
		244
		245	//############################################################################
1622	killagreg	246	// Messwerte beim Ermitteln der Nullage
		247	void CalibrierMittelwert(void)
		248	//############################################################################
		249	{
		250	unsigned char i;
		251	if(PlatinenVersion == 13) SucheGyroOffset();
		252	// ADC auschalten, damit die Werte sich nicht w�hrend der Berechnung �ndern
		253	ANALOG_OFF;
		254	MesswertNick = AdWertNick;
		255	MesswertRoll = AdWertRoll;
		256	MesswertGier = AdWertGier;
1703	holgerb	257	Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick;
		258	Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll;
1622	killagreg	259	// ADC einschalten
		260	ANALOG_ON;
		261	for(i=0;i<8;i++)
		262	{
		263	int tmp;
1876	holgerb	264	tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127;
1622	killagreg	265	LIMIT_MIN_MAX(tmp, 0, 255);
		266	if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++;
		267	}
		268	Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
		269	Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
		270	}
		271
		272	//############################################################################
1	ingob	273	// Nullwerte ermitteln
2319	holgerb	274	// Parameter: 0 -> after switch on (ignore ACC-Z fault)
		275	// Parameter: 1 -> before Start
		276	// Parameter: 2 -> calibrate and store ACC
		277	unsigned char SetNeutral(unsigned char AdjustmentMode) // retuns: "sucess"
1	ingob	278	//############################################################################
		279	{
2316	holgerb	280	unsigned char i, sucess = 1;
		281	unsigned int gier_neutral = 0, nick_neutral = 0, roll_neutral = 0, acc_z_neutral = 0;
1702	holgerb	282	VersionInfo.HardwareError[0] = 0;
2146	holgerb	283	// HEF4017Reset_ON;
1051	killagreg	284	NeutralAccX = 0;
1	ingob	285	NeutralAccY = 0;
		286	NeutralAccZ = 0;
2316	holgerb	287	NeutralAccZfine = 0;
1622	killagreg	288
1051	killagreg	289	AdNeutralNick = 0;
		290	AdNeutralRoll = 0;
1	ingob	291	AdNeutralGier = 0;
1622	killagreg	292
395	hbuss	293	Parameter_AchsKopplung1 = 0;
1120	hbuss	294	Parameter_AchsKopplung2 = 0;
1622	killagreg	295
1036	hbuss	296	ExpandBaro = 0;
1622	killagreg	297
1051	killagreg	298	CalibrierMittelwert();
395	hbuss	299	Delay_ms_Mess(100);
1622	killagreg	300
1	ingob	301	CalibrierMittelwert();
1622	killagreg	302
1	ingob	303	if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // H�henregelung aktiviert?
1051	killagreg	304	{
1	ingob	305	if((MessLuftdruck > 950) \|\| (MessLuftdruck < 750)) SucheLuftruckOffset();
		306	}
1166	hbuss	307	#define NEUTRAL_FILTER 32
		308	for(i=0; i<NEUTRAL_FILTER; i++)
1111	hbuss	309	{
		310	Delay_ms_Mess(10);
1216	killagreg	311	gier_neutral += AdWertGier;
1166	hbuss	312	nick_neutral += AdWertNick;
		313	roll_neutral += AdWertRoll;
2316	holgerb	314	acc_z_neutral += Aktuell_az;
1111	hbuss	315	}
2316	holgerb	316	AdNeutralNick = (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
		317	AdNeutralRoll = (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
		318	AdNeutralGier = (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
		319	NeutralAccZ = (acc_z_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
1622	killagreg	320
401	hbuss	321	StartNeutralRoll = AdNeutralRoll;
		322	StartNeutralNick = AdNeutralNick;
1622	killagreg	323
2319	holgerb	324	if(AdjustmentMode == 2)
1622	killagreg	325	{
		326	NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
		327	NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
		328	// Save ACC neutral settings to eeprom
1639	holgerb	329	SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX);
		330	SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY);
1622	killagreg	331	SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ);
513	hbuss	332	}
1051	killagreg	333	else
513	hbuss	334	{
1622	killagreg	335	// restore from eeprom
		336	NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK);
		337	NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
		338	// strange settings?
2316	holgerb	339	if(((unsigned int) NeutralAccX > 2048) \|\| ((unsigned int) NeutralAccY > 2048)/* \|\| ((unsigned int) NeutralAccZ > 1024)*/)
1622	killagreg	340	{
		341	printf("\n\rACC not calibrated!\r\n");
		342	NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
		343	NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
2316	holgerb	344	sucess = 0;
1622	killagreg	345	}
513	hbuss	346	}
2330	holgerb	347	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space
		348	MesswertNick = 0;
1	ingob	349	MesswertRoll = 0;
		350	MesswertGier = 0;
1111	hbuss	351	Delay_ms_Mess(100);
1703	holgerb	352	Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick;
		353	Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll;
1173	hbuss	354	IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
		355	IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
2072	holgerb	356	Mess_IntegralNick = IntegralNick;
		357	Mess_IntegralRoll = IntegralRoll;
1173	hbuss	358	Mess_Integral_Gier = 0;
1	ingob	359	StartLuftdruck = Luftdruck;
1253	killagreg	360	VarioMeter = 0;
2309	holgerb	361	SummenHoehe = 0; Mess_Integral_Hoch = 0;
1837	holgerb	362	KompassSollWert = KompassValue;
1839	holgerb	363	KompassSignalSchlecht = 100;
1051	killagreg	364	beeptime = 50;
882	hbuss	365	Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L;
		366	Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L;
492	hbuss	367	ExternHoehenValue = 0;
693	hbuss	368	ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
		369	GierGyroFehler = 0;
921	hbuss	370	LED_Init();
1765	killagreg	371	FC_StatusFlags \|= FC_STATUS_CALIBRATE;
992	hbuss	372	FromNaviCtrl_Value.Kalman_K = -1;
1173	hbuss	373	FromNaviCtrl_Value.Kalman_MaxDrift = 0;
992	hbuss	374	FromNaviCtrl_Value.Kalman_MaxFusion = 32;
1391	killagreg	375	for(i=0;i<8;i++)
1377	hbuss	376	{
1876	holgerb	377	Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127;
1377	hbuss	378	}
1171	hbuss	379	SenderOkay = 100;
1320	hbuss	380	if(ServoActive)
		381	{
		382	DDRD \|=0x80; // enable J7 -> Servo signal
		383	}
2240	holgerb	384	else
		385	{
2263	holgerb	386	// if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickServoValue = ((128 + 60) * 4 * 16); // neutral position = upper 1/4
		387	// else
		388	NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4
2240	holgerb	389	}
1702	holgerb	390
2316	holgerb	391	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		392	signed int tilt1, tilt2;
		393	tilt1 = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg
		394	tilt2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg
		395	tilt1 = (int16_t)ihypot(tilt1,tilt2); // tilt angle over all
		396	CosAttitude = c_cos_8192(tilt1);
		397	NeutralAccZ = (long)((long) (NeutralAccZ - 512) * 8192 + 4096) / CosAttitude + 512;
		398	if(tilt1 > 20) sucess = 0; // calibration must be within 20� Tilt angle
2319	holgerb	399	if(AdjustmentMode != 0 && ACC_AltitudeControl) if((NeutralAccZ < 682 - 25) \|\| (NeutralAccZ > 682 + 25)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_TOP; sucess = 0;};
2316	holgerb	400	#else
		401	NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP);
2330	holgerb	402	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space
2316	holgerb	403	#endif
		404
1765	killagreg	405	if((AdNeutralNick < 150 * 16) \|\| (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_NICK; };
		406	if((AdNeutralRoll < 150 * 16) \|\| (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_ROLL; };
		407	if((AdNeutralGier < 150 * 2) \|\| (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_YAW; };
		408	if((NeutralAccX < 300) \|\| (NeutralAccX > 750)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_NICK; };
		409	if((NeutralAccY < 300) \|\| (NeutralAccY > 750)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_ROLL; };
		410	if((NeutralAccZ < 512) \|\| (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_TOP; };
2316	holgerb	411	if(VersionInfo.HardwareError[0]) sucess = 0;
1862	holgerb	412	carefree_old = 70;
1925	holgerb	413	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
1921	holgerb	414	LIBFC_HoTT_Clear();
2316	holgerb	415	ACC_AltitudeFusion(2); // initalisation
1925	holgerb	416	#endif
2316	holgerb	417	return(sucess);
1	ingob	418	}
		419
1702	holgerb	420
1	ingob	421	//############################################################################
395	hbuss	422	// Bearbeitet die Messwerte
1	ingob	423	void Mittelwert(void)
		424	//############################################################################
1051	killagreg	425	{
1111	hbuss	426	static signed long tmpl,tmpl2,tmpl3,tmpl4;
		427	static signed int oldNick, oldRoll, d2Roll, d2Nick;
1153	hbuss	428	signed long winkel_nick, winkel_roll;
1111	hbuss	429	MesswertGier = (signed int) AdNeutralGier - AdWertGier;
1171	hbuss	430	MesswertNick = (signed int) AdWertNickFilter / 8;
		431	MesswertRoll = (signed int) AdWertRollFilter / 8;
1153	hbuss	432	RohMesswertNick = MesswertNick;
		433	RohMesswertRoll = MesswertRoll;
1166	hbuss	434
395	hbuss	435	// Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++
1703	holgerb	436	Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L;
		437	Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L;
395	hbuss	438	IntegralAccNick += ACC_AMPLIFY * AdWertAccNick;
		439	IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll;
805	hbuss	440	NaviAccNick += AdWertAccNick;
		441	NaviAccRoll += AdWertAccRoll;
		442	NaviCntAcc++;
1153	hbuss	443	IntegralAccZ += Aktuell_az - NeutralAccZ;
		444
1155	hbuss	445	//++++++++++++++++++++++++++++++++++++++++++++++++
		446	// ADC einschalten
1171	hbuss	447	ANALOG_ON;
1155	hbuss	448	AdReady = 0;
		449	//++++++++++++++++++++++++++++++++++++++++++++++++
		450
1216	killagreg	451	if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L;
		452	else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L;
1153	hbuss	453	else winkel_roll = Mess_IntegralRoll;
		454
1216	killagreg	455	if(Mess_IntegralNick > 93000L) winkel_nick = 93000L;
		456	else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L;
1153	hbuss	457	else winkel_nick = Mess_IntegralNick;
		458
1120	hbuss	459	// Gier ++++++++++++++++++++++++++++++++++++++++++++++++
1153	hbuss	460	Mess_Integral_Gier += MesswertGier;
		461	ErsatzKompass += MesswertGier;
395	hbuss	462	// Kopplungsanteil +++++++++++++++++++++++++++++++++++++
1916	holgerb	463	if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV))
395	hbuss	464	{
1153	hbuss	465	tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
1120	hbuss	466	tmpl3 *= Parameter_AchsKopplung2; //65
1111	hbuss	467	tmpl3 /= 4096L;
1153	hbuss	468	tmpl4 = (MesswertNick * winkel_roll) / 2048L;
1216	killagreg	469	tmpl4 *= Parameter_AchsKopplung2; //65
1111	hbuss	470	tmpl4 /= 4096L;
1153	hbuss	471	KopplungsteilNickRoll = tmpl3;
		472	KopplungsteilRollNick = tmpl4;
1111	hbuss	473	tmpl4 -= tmpl3;
		474	ErsatzKompass += tmpl4;
1166	hbuss	475	if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen
1111	hbuss	476
1153	hbuss	477	tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L;
1111	hbuss	478	tmpl *= Parameter_AchsKopplung1; // 90
880	hbuss	479	tmpl /= 4096L;
1153	hbuss	480	tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L;
395	hbuss	481	tmpl2 *= Parameter_AchsKopplung1;
1662	killagreg	482	tmpl2 /= 4096L;
1225	hbuss	483	if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 \|\| labs(tmpl2) > 128) TrichterFlug = 1;
1153	hbuss	484	//MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
395	hbuss	485	}
1166	hbuss	486	else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
1658	holgerb	487	TrimRoll = tmpl - tmpl2 / 100L;
		488	TrimNick = -tmpl2 + tmpl / 100L;
1111	hbuss	489	// Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++
		490	if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360� Umschlag
		491	if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
395	hbuss	492	// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
1166	hbuss	493	Mess_IntegralRoll2 += MesswertRoll + TrimRoll;
		494	Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll;
1051	killagreg	495	if(Mess_IntegralRoll > Umschlag180Roll)
395	hbuss	496	{
882	hbuss	497	Mess_IntegralRoll = -(Umschlag180Roll - 25000L);
395	hbuss	498	Mess_IntegralRoll2 = Mess_IntegralRoll;
1051	killagreg	499	}
395	hbuss	500	if(Mess_IntegralRoll <-Umschlag180Roll)
		501	{
882	hbuss	502	Mess_IntegralRoll = (Umschlag180Roll - 25000L);
395	hbuss	503	Mess_IntegralRoll2 = Mess_IntegralRoll;
1051	killagreg	504	}
395	hbuss	505	// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
1166	hbuss	506	Mess_IntegralNick2 += MesswertNick + TrimNick;
		507	Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick;
1051	killagreg	508	if(Mess_IntegralNick > Umschlag180Nick)
882	hbuss	509	{
		510	Mess_IntegralNick = -(Umschlag180Nick - 25000L);
		511	Mess_IntegralNick2 = Mess_IntegralNick;
1051	killagreg	512	}
		513	if(Mess_IntegralNick <-Umschlag180Nick)
395	hbuss	514	{
882	hbuss	515	Mess_IntegralNick = (Umschlag180Nick - 25000L);
395	hbuss	516	Mess_IntegralNick2 = Mess_IntegralNick;
1051	killagreg	517	}
1111	hbuss	518
1	ingob	519	Integral_Gier = Mess_Integral_Gier;
		520	IntegralNick = Mess_IntegralNick;
		521	IntegralRoll = Mess_IntegralRoll;
1051	killagreg	522	IntegralNick2 = Mess_IntegralNick2;
1	ingob	523	IntegralRoll2 = Mess_IntegralRoll2;
		524
1166	hbuss	525	#define D_LIMIT 128
		526
1171	hbuss	527	MesswertNick = HiResNick / 8;
		528	MesswertRoll = HiResRoll / 8;
1166	hbuss	529
1167	hbuss	530	if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000;
		531	if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; }
		532	else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; }
		533	if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000;
		534	if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; }
		535	else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; }
		536
1216	killagreg	537	if(Parameter_Gyro_D)
1111	hbuss	538	{
1166	hbuss	539	d2Nick = HiResNick - oldNick;
		540	oldNick = (oldNick + HiResNick)/2;
1111	hbuss	541	if(d2Nick > D_LIMIT) d2Nick = D_LIMIT;
		542	else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT;
1791	holgerb	543
1166	hbuss	544	d2Roll = HiResRoll - oldRoll;
		545	oldRoll = (oldRoll + HiResRoll)/2;
1111	hbuss	546	if(d2Roll > D_LIMIT) d2Roll = D_LIMIT;
		547	else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT;
1791	holgerb	548
		549	MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16;
1166	hbuss	550	MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16;
		551	HiResNick += (d2Nick * (signed int) Parameter_Gyro_D);
		552	HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D);
1216	killagreg	553	}
1111	hbuss	554
1166	hbuss	555	if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
		556	else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
		557	if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
		558	else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
1153	hbuss	559
1916	holgerb	560	if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
1153	hbuss	561	{
		562	if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256);
		563	else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
		564	if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256);
		565	else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256);
		566	}
1	ingob	567	}
		568
		569	//############################################################################
		570	// Senden der Motorwerte per I2C-Bus
		571	void SendMotorData(void)
		572	//############################################################################
1051	killagreg	573	{
1209	hbuss	574	unsigned char i;
921	hbuss	575	if(!MotorenEin)
1	ingob	576	{
1765	killagreg	577	FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN \| FC_STATUS_FLY);
2309	holgerb	578	FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF;
1216	killagreg	579	for(i=0;i<MAX_MOTORS;i++)
		580	{
		581	if(!PC_MotortestActive) MotorTest[i] = 0;
1638	holgerb	582	Motor[i].SetPoint = MotorTest[i];
		583	Motor[i].SetPointLowerBits = 0;
		584	/*
1760	holgerb	585	Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution
		586	Motor[i].SetPointLowerBits = MotorTest[i] % 4;
1638	holgerb	587	*/
1216	killagreg	588	}
1212	hbuss	589	if(PC_MotortestActive) PC_MotortestActive--;
1216	killagreg	590	}
1765	killagreg	591	else FC_StatusFlags \|= FC_STATUS_MOTOR_RUN;
1744	holgerb	592
1765	killagreg	593	if(I2C_TransferActive)
1744	holgerb	594	{
1760	holgerb	595	I2C_TransferActive = 0; // enable for the next time
1765	killagreg	596	}
		597	else
1744	holgerb	598	{
		599	motor_write = 0;
1760	holgerb	600	I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode
1765	killagreg	601	}
1	ingob	602	}
		603
2342	holgerb	604	unsigned char GetChannelValue(unsigned char ch) // gives the unsigned value of the channel
		605	{
		606	int tmp2;
		607	if(ch == 0) return(0);
		608	tmp2 = PPM_in[ch] + 127;
		609	if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0;
		610	return(tmp2);
		611	}
1	ingob	612
		613	//############################################################################
		614	// Tr�gt ggf. das Poti als Parameter ein
1051	killagreg	615	void ParameterZuordnung(void)
1	ingob	616	//############################################################################
		617	{
1787	holgerb	618	unsigned char tmp,i;
		619	for(i=0;i<8;i++)
		620	{
		621	int tmp2;
1933	holgerb	622	tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i];
		623	tmp2 = PPM_in[tmp] + 127;
1787	holgerb	624	if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0;
1933	holgerb	625
		626	if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter
		627	else
1787	holgerb	628	if(tmp2 != Poti[i])
		629	{
		630	Poti[i] += (tmp2 - Poti[i]) / 4;
		631	if(Poti[i] > tmp2) Poti[i]--;
		632	else Poti[i]++;
		633	}
		634	}
921	hbuss	635	CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
		636	CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
		637	CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
1933	holgerb	638	CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255);
		639	CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255);
2012	holgerb	640
2040	holgerb	641	if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16)
		642	else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;}
2012	holgerb	643	else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3);
		644
2040	holgerb	645	if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;}
		646	else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17)
2012	holgerb	647	else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4);
2043	holgerb	648	CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5);
2342	holgerb	649	Parameter_HoehenSchalter = GetChannelValue(EE_Parameter.HoeheChannel);
1377	hbuss	650	CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung);
		651	CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z);
		652	CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung);
		653	CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I);
		654	CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D);
		655	CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P);
		656	CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I);
		657	CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor);
		658	CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1);
		659	CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2);
		660	CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3);
		661	CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4);
		662	CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5);
		663	CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6);
		664	CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7);
		665	CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8);
		666	CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl);
		667	CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl);
2296	holgerb	668	CHK_POTI(Parameter_ServoNickComp,EE_Parameter.ServoNickComp);
		669	CHK_POTI(Parameter_ServoRollComp,EE_Parameter.ServoRollComp);
1377	hbuss	670	CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit);
1668	holgerb	671	CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1);
		672	CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2);
1377	hbuss	673	CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection);
1936	holgerb	674	CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude);
2034	holgerb	675	if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) \|\| Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude;
1916	holgerb	676	Parameter_GlobalConfig = EE_Parameter.GlobalConfig;
		677	Parameter_ExtraConfig = EE_Parameter.ExtraConfig;
1377	hbuss	678	// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
		679	CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
		680	CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
1676	holgerb	681	Ki = 10300 / (Parameter_I_Faktor + 1);
1	ingob	682	MAX_GAS = EE_Parameter.Gas_Max;
1662	killagreg	683	MIN_GAS = EE_Parameter.Gas_Min;
1668	holgerb	684
2342	holgerb	685	if(EE_Parameter.CareFreeChannel)
1668	holgerb	686	{
1682	holgerb	687	CareFree = 1;
2342	holgerb	688	if(PPM_in[EE_Parameter.CareFreeChannel] < -64) CareFree = 0;
		689	// if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0;
1862	holgerb	690	if(carefree_old != CareFree)
		691	{
		692	if(carefree_old < 3)
		693	{
2090	holgerb	694	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		695	if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; }
		696	else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; }
		697	#else
2063	holgerb	698	if(CareFree) beeptime = 1500;
1862	holgerb	699	else beeptime = 200;
2090	holgerb	700	#endif
2063	holgerb	701	NeueKompassRichtungMerken = 5;
1862	holgerb	702	carefree_old = CareFree;
		703	} else carefree_old--;
		704	}
1937	holgerb	705	if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] \|= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE;
1669	killagreg	706	}
1839	holgerb	707	else
		708	{
		709	CareFree = 0;
1862	holgerb	710	carefree_old = 10;
1839	holgerb	711	}
1668	holgerb	712
1691	holgerb	713	if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ung�ltiger Kompasswert
1690	holgerb	714	{
		715	beeptime = 15000;
		716	BeepMuster = 0xA400;
		717	CareFree = 0;
1765	killagreg	718	}
2341	holgerb	719	if(CareFree) { FC_StatusFlags2 \|= FC_STATUS2_CAREFREE; /if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;/} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE;
1	ingob	720	}
		721
		722	//############################################################################
		723	//
		724	void MotorRegler(void)
		725	//############################################################################
		726	{
1330	killagreg	727	int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2;
1	ingob	728	int GierMischanteil,GasMischanteil;
		729	static long sollGier = 0,tmp_long,tmp_long2;
395	hbuss	730	static long IntegralFehlerNick = 0;
		731	static long IntegralFehlerRoll = 0;
1	ingob	732	static unsigned int RcLostTimer;
		733	static unsigned char delay_neutral = 0;
		734	static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
2146	holgerb	735	static signed char move_safety_switch = 0;
395	hbuss	736	static long ausgleichNick, ausgleichRoll;
1153	hbuss	737	int IntegralNickMalFaktor,IntegralRollMalFaktor;
1209	hbuss	738	unsigned char i;
1051	killagreg	739	Mittelwert();
		740	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	741	// Gaswert ermitteln
1051	killagreg	742	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2230	holgerb	743	if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING \| FC_STATUS2_RC_FAILSAVE_ACTIVE)))
		744	{
		745	if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)
2028	holgerb	746	{
		747	if(HoverGas && HoverGas < 150 * STICK_GAIN)
		748	{
		749	HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas
		750	}
		751	else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet
		752	} else HooverGasEmergencyPercent = EE_Parameter.NotGas;
2230	holgerb	753	}
		754	if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed
		755	{
		756	StickGas = 0; // Hold Gas down in that case
		757	HooverGasEmergencyPercent = MIN_GAS;
		758	}
1051	killagreg	759	GasMischanteil = StickGas;
831	hbuss	760	if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
1051	killagreg	761	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693	hbuss	762	// Empfang schlecht
1051	killagreg	763	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1916	holgerb	764	if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE))
1	ingob	765	{
1051	killagreg	766	if(RcLostTimer) RcLostTimer--;
		767	else
1	ingob	768	{
		769	MotorenEin = 0;
1954	holgerb	770	modell_fliegt = 0;
		771	FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING \| FC_STATUS_FLY);
1051	killagreg	772	}
1	ingob	773	ROT_ON;
2008	holgerb	774	if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken
1	ingob	775	{
2028	holgerb	776	GasMischanteil = HooverGasEmergencyPercent;
1765	killagreg	777	FC_StatusFlags \|= FC_STATUS_EMERGENCY_LANDING;
744	hbuss	778	PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
1051	killagreg	779	PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
1	ingob	780	PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
		781	PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
		782	PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
173	holgerb	783	}
1954	holgerb	784	else
		785	{
		786	MotorenEin = 0;
		787	}
1	ingob	788	}
1051	killagreg	789	else
		790	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	791	// Emfang gut
1051	killagreg	792	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	793	if(SenderOkay > 140)
		794	{
2340	holgerb	795	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2345	holgerb	796	static unsigned int trigger = 1000;
2340	holgerb	797	static unsigned char old_switch = 100;
		798	if(EE_Parameter.StartLandChannel && EE_Parameter.LandingSpeed)
		799	{
		800	if(PPM_in[EE_Parameter.StartLandChannel] > 50)
		801	{
		802	if(old_switch == 50) if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) { FC_StatusFlags2 \|= FC_STATUS2_AUTO_STARTING; SpeakHoTT = SPEAK_RISING;}
2342	holgerb	803	FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING;
2340	holgerb	804	old_switch = 150;
		805	}
		806	else
		807	if(PPM_in[EE_Parameter.StartLandChannel] < -50)
		808	{
		809	if(old_switch == 150) { FC_StatusFlags2 \|= FC_STATUS2_AUTO_LANDING; SpeakHoTT = SPEAK_SINKING;}
2342	holgerb	810	FC_StatusFlags2 &= ~FC_STATUS2_AUTO_STARTING;
2340	holgerb	811	old_switch = 50;
		812	}
		813	else
		814	{
		815	FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING \| FC_STATUS2_AUTO_LANDING);
		816	}
		817	}
		818	#endif
1765	killagreg	819	FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING;
1	ingob	820	RcLostTimer = EE_Parameter.NotGasZeit * 50;
921	hbuss	821	if(GasMischanteil > 40 && MotorenEin)
1	ingob	822	{
		823	if(modell_fliegt < 0xffff) modell_fliegt++;
		824	}
871	hbuss	825	if((modell_fliegt < 256))
2309	holgerb	826	{
1	ingob	827	SummeNick = 0;
		828	SummeRoll = 0;
1682	holgerb	829	sollGier = 0;
		830	Mess_Integral_Gier = 0;
2309	holgerb	831	FC_StatusFlags2 \|= FC_STATUS2_WAIT_FOR_TAKEOFF;
2340	holgerb	832	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		833	old_switch = 100;
		834	#endif
2309	holgerb	835	}
		836	else
		837	{
		838	FC_StatusFlags \|= FC_STATUS_FLY;
		839	if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF)
		840	{
2322	holgerb	841	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2340	holgerb	842	if((NC_To_FC_Flags & NC_TO_FC_AUTOSTART \|\| FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) && (VarioCharacter == '=') && ACC_AltitudeControl)
2322	holgerb	843	{
2340	holgerb	844	FromNC_AltitudeSpeed = 80;
		845	FromNC_AltitudeSetpoint = 500;
		846	SollHoehe = 500;
2322	holgerb	847	trigger = 1000;
2340	holgerb	848	if(NC_To_FC_Flags & NC_TO_FC_AUTOSTART) SpeakHoTT = SPEAK_NEXT_WP;
2322	holgerb	849	/* if(StartTrigger != 2)
		850	{
		851	StartTrigger = 1;
		852	if(HoverGas < STICK_GAIN * 35) HoverGas = STICK_GAIN * 35;
		853	}
		854	*/
		855	}
2340	holgerb	856	// else FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING);
2322	holgerb	857	#endif
2340	holgerb	858	if(HoehenWertF > 150 \|\| HoehenWert < -350 \|\| !(Parameter_GlobalConfig & CFG_HOEHENREGELUNG))
2309	holgerb	859	{
		860	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2322	holgerb	861	trigger = 1000;
2340	holgerb	862	if(FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) { FromNC_AltitudeSpeed = 0; SollHoehe = 300;/HoehenWertF + 100;/}
		863	else SpeakHoTT = SPEAK_RISING;
2309	holgerb	864	#endif
2340	holgerb	865	FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF \| FC_STATUS2_AUTO_STARTING \| FC_STATUS2_AUTO_LANDING);
2309	holgerb	866	}
		867	SummeNick = 0;
		868	SummeRoll = 0;
		869	Mess_Integral_Gier = 0;
		870	// sollGier = 0;
		871	if(modell_fliegt > 1000) modell_fliegt = 1000; // for the Hooverpoint-Estimation
		872	}
2322	holgerb	873	else // Flying mode
		874	{
		875	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2340	holgerb	876	if((FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) && (VarioCharacter == 'v' \|\| VarioCharacter == '=') && ACC_AltitudeControl)
		877	{
		878	FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed;
		879	FromNC_AltitudeSetpoint = -20000;
		880	}
2322	holgerb	881	if(trigger < 1000)
		882	{
		883	trigger++;
		884	SummeNick = 0;
		885	SummeRoll = 0;
		886	Mess_Integral_Gier = 0;
		887	SollHoehe = HoehenWertF - 300;
2345	holgerb	888	if(trigger == 1000 && FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING && VarioCharacter != '+')
		889	{
		890	FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING;
		891	FC_StatusFlags2 \|= FC_STATUS2_WAIT_FOR_TAKEOFF; // go back into starting state
		892	}
2322	holgerb	893	}
		894	else
		895	if(ACC_AltitudeControl && (VarioCharacter == 'v' \|\| VarioCharacter == '-') && HoehenWert < 1000 /&& FromNC_AltitudeSetpoint < 0/)
		896	{
2345	holgerb	897	if(Aktuell_az > 940)
		898	{
		899	trigger = 0;
		900	SpeakHoTT = SPEAK_LANDING;
		901	};
2322	holgerb	902	}
		903	#endif
		904	}
		905	} // end of: modell_fliegt > 256
595	hbuss	906	if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0)
1	ingob	907	{
1051	killagreg	908	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	909	// auf Nullwerte kalibrieren
1051	killagreg	910	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	911	if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte
		912	{
		913	if(++delay_neutral > 200) // nicht sofort
		914	{
		915	delay_neutral = 0;
		916	modell_fliegt = 0;
		917	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 \|\| abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)
		918	{
304	ingob	919	unsigned char setting=1;
1	ingob	920	if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1;
		921	if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2;
		922	if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3;
		923	if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4;
		924	if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5;
1622	killagreg	925	SetActiveParamSet(setting); // aktiven Datensatz merken
1	ingob	926	}
1051	killagreg	927	if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70)
		928	{
819	hbuss	929	WinkelOut.CalcState = 1;
2009	holgerb	930	CalibrationDone = 0;
819	hbuss	931	beeptime = 1000;
		932	}
		933	else
1	ingob	934	{
2340	holgerb	935	ParamSet_ReadFromEEProm(ActiveParamSet);
1413	killagreg	936	LipoDetection(0);
1626	killagreg	937	LIBFC_ReceiverInit(EE_Parameter.Receiver);
1916	holgerb	938	if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // H�henregelung aktiviert?
819	hbuss	939	{
1	ingob	940	if((MessLuftdruck > 950) \|\| (MessLuftdruck < 750)) SucheLuftruckOffset();
1051	killagreg	941	}
2146	holgerb	942	// ServoActive = 0;
2319	holgerb	943	CalibrationDone = SetNeutral(1);
1232	hbuss	944	ServoActive = 1;
		945	DDRD \|=0x80; // enable J7 -> Servo signal
2263	holgerb	946	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2309	holgerb	947	if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR;
2316	holgerb	948	else
		949	if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION;
2309	holgerb	950	else SpeakHoTT = SPEAK_CALIBRATE;
2345	holgerb	951	ShowSettingNameTime = 5; // for HoTT & Jeti
2263	holgerb	952	#endif
2332	holgerb	953	Piep(ActiveParamSet,120);
819	hbuss	954	}
1051	killagreg	955	}
1	ingob	956	}
1051	killagreg	957	else
513	hbuss	958	if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern
		959	{
		960	if(++delay_neutral > 200) // nicht sofort
		961	{
		962	MotorenEin = 0;
		963	delay_neutral = 0;
		964	modell_fliegt = 0;
2319	holgerb	965	CalibrationDone = SetNeutral(2); // store ACC values into EEPROM
2263	holgerb	966	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2316	holgerb	967	if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR;
		968	else
		969	if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION;
		970	else SpeakHoTT = SPEAK_CALIBRATE;
2263	holgerb	971	#endif
2332	holgerb	972	Piep(ActiveParamSet,120);
1051	killagreg	973	}
513	hbuss	974	}
1	ingob	975	else delay_neutral = 0;
		976	}
1051	killagreg	977	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	978	// Gas ist unten
1051	killagreg	979	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2342	holgerb	980	if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < -100)
1	ingob	981	{
2146	holgerb	982	if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100;
		983	else
		984	if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100;
1521	killagreg	985	// Motoren Starten
		986	if(!MotorenEin)
		987	{
2342	holgerb	988	if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) \|\| EE_Parameter.MotorSafetySwitch == 0)))
2146	holgerb	989	\|\| (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100)))
1521	killagreg	990	{
1051	killagreg	991	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	992	// Einschalten
1051	killagreg	993	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2146	holgerb	994	if(CalibrationDone) FC_StatusFlags \|= FC_STATUS_START;
2309	holgerb	995	StartLuftdruck = Luftdruck;
		996	HoehenWertF = 0;
		997	HoehenWert = 0;
		998	SummenHoehe = 0;
2342	holgerb	999	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -100 \|\| abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 100) && EE_Parameter.MotorSafetySwitch == 0) delay_einschalten = 0;
2146	holgerb	1000	if(++delay_einschalten > 253)
1521	killagreg	1001	{
		1002	delay_einschalten = 0;
2009	holgerb	1003	if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode)
1622	killagreg	1004	{
		1005	modell_fliegt = 1;
		1006	MotorenEin = 1;
		1007	sollGier = 0;
		1008	Mess_Integral_Gier = 0;
		1009	Mess_Integral_Gier2 = 0;
		1010	Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
		1011	Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
		1012	Mess_IntegralNick2 = IntegralNick;
		1013	Mess_IntegralRoll2 = IntegralRoll;
		1014	SummeNick = 0;
		1015	SummeRoll = 0;
1913	holgerb	1016	// ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2;
1840	holgerb	1017	NeueKompassRichtungMerken = 100; // 2 sekunden
2090	holgerb	1018	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		1019	SpeakHoTT = SPEAK_STARTING;
		1020	#endif
1622	killagreg	1021	}
		1022	else
		1023	{
		1024	beeptime = 1500; // indicate missing calibration
2090	holgerb	1025	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2146	holgerb	1026	if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION;
2090	holgerb	1027	#endif
1622	killagreg	1028	}
1521	killagreg	1029	}
		1030	}
		1031	else delay_einschalten = 0;
		1032	}
1051	killagreg	1033	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1034	// Auschalten
1051	killagreg	1035	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1521	killagreg	1036	else // only if motors are running
		1037	{
2146	holgerb	1038	// if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 \|\| EE_Parameter.MotorSafetySwitch == 0))
2342	holgerb	1039	if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) \|\| EE_Parameter.MotorSafetySwitch == 0)))
2146	holgerb	1040	\|\| (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100)))
1521	killagreg	1041	{
2342	holgerb	1042	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -100 \|\| abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 100) && EE_Parameter.MotorSafetySwitch == 0)
		1043	{
		1044	delay_ausschalten = 0;
		1045	}
		1046	else
		1047	{
		1048	SummeNick = 0;
		1049	SummeRoll = 0;
		1050	StickNick = 0;
		1051	StickRoll = 0;
		1052	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		1053	SpeakHoTT = SPEAK_MK_OFF;
		1054	#endif
		1055	}
2146	holgerb	1056	if(++delay_ausschalten > 250) // nicht sofort
1521	killagreg	1057	{
		1058	MotorenEin = 0;
		1059	delay_ausschalten = 0;
		1060	modell_fliegt = 0;
2342	holgerb	1061	FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF \| FC_STATUS2_AUTO_STARTING \| FC_STATUS2_AUTO_LANDING);
1521	killagreg	1062	}
		1063	}
		1064	else delay_ausschalten = 0;
		1065	}
2230	holgerb	1066	if(GasIsZeroCnt < 1000) GasIsZeroCnt++;
		1067	}
2146	holgerb	1068	else // gas not at minimum
2230	holgerb	1069	{
		1070	move_safety_switch = 0;
		1071	GasIsZeroCnt = 0;
		1072	}
1	ingob	1073	}
2230	holgerb	1074	else // Empfang zwischen 100 und 140 -> schlecht
		1075	{
		1076	if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost
		1077	{
		1078	if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed?
		1079	{
		1080	GasIsZeroCnt = 30000;
		1081	if(modell_fliegt > 1001) modell_fliegt = 1001;
		1082	}
		1083	}
		1084	}
1051	killagreg	1085	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1086	// neue Werte von der Funke
1051	killagreg	1087	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216	killagreg	1088
1765	killagreg	1089	if(!NewPpmData-- \|\| (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
1	ingob	1090	{
604	hbuss	1091	static int stick_nick,stick_roll;
1912	holgerb	1092	unsigned char stick_p;
1	ingob	1093	ParameterZuordnung();
1912	holgerb	1094	stick_p = EE_Parameter.Stick_P;
		1095	stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4;
723	hbuss	1096	stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
1912	holgerb	1097	stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4;
723	hbuss	1098	stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
		1099
1707	holgerb	1100	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		1101	// CareFree und freie Wahl der vorderen Richtung
		1102	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1865	holgerb	1103	if(CareFree)
		1104	{
		1105	signed int nick, roll;
		1106	nick = stick_nick / 4;
		1107	roll = stick_roll / 4;
		1108	StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4);
		1109	StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4);
		1110	}
		1111	else
		1112	{
		1113	FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6];
		1114	FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle];
		1115	StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8;
		1116	StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8;
		1117	}
1662	killagreg	1118
1	ingob	1119	StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
1840	holgerb	1120	if(StickGier > 4) StickGier -= 4; else
		1121	if(StickGier < -4) StickGier += 4; else StickGier = 0;
1120	hbuss	1122
1945	holgerb	1123	if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger
		1124	{
		1125	StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16;
		1126	StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16;
		1127	}
1912	holgerb	1128
		1129	StickNick -= GPS_Nick;
		1130	StickRoll -= GPS_Roll;
1933	holgerb	1131	StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127;
1330	killagreg	1132
1153	hbuss	1133	GyroFaktor = (Parameter_Gyro_P + 10.0);
		1134	IntegralFaktor = Parameter_Gyro_I;
1322	hbuss	1135	GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0);
		1136	IntegralFaktorGier = Parameter_Gyro_Gier_I;
1	ingob	1137
595	hbuss	1138	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		1139	//+ Analoge Steuerung per Seriell
		1140	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
921	hbuss	1141	if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128)
595	hbuss	1142	{
		1143	StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P;
		1144	StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P;
		1145	StickGier += ExternControl.Gier;
		1146	ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung;
		1147	if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
		1148	}
855	hbuss	1149	if(StickGas < 0) StickGas = 0;
1330	killagreg	1150
1916	holgerb	1151	if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0;
723	hbuss	1152
1051	killagreg	1153	if(abs(StickNick/STICK_GAIN) > MaxStickNick)
928	hbuss	1154	{
1051	killagreg	1155	MaxStickNick = abs(StickNick)/STICK_GAIN;
928	hbuss	1156	if(MaxStickNick > 100) MaxStickNick = 100;
1051	killagreg	1157	}
928	hbuss	1158	else MaxStickNick--;
1051	killagreg	1159	if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
928	hbuss	1160	{
1051	killagreg	1161	MaxStickRoll = abs(StickRoll)/STICK_GAIN;
928	hbuss	1162	if(MaxStickRoll > 100) MaxStickRoll = 100;
1051	killagreg	1163	}
928	hbuss	1164	else MaxStickRoll--;
1765	killagreg	1165	if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;}
723	hbuss	1166
1051	killagreg	1167	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173	holgerb	1168	// Looping?
1051	killagreg	1169	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
993	hbuss	1170	if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1;
1051	killagreg	1171	else
		1172	{
395	hbuss	1173	{
1051	killagreg	1174	if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0;
		1175	}
		1176	}
993	hbuss	1177	if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1;
1051	killagreg	1178	else
395	hbuss	1179	{
		1180	if(Looping_Rechts) // Hysterese
		1181	{
		1182	if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0;
		1183	}
1051	killagreg	1184	}
173	holgerb	1185
993	hbuss	1186	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1;
1051	killagreg	1187	else
		1188	{
395	hbuss	1189	if(Looping_Oben) // Hysterese
		1190	{
1051	killagreg	1191	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0;
		1192	}
		1193	}
993	hbuss	1194	if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1;
1051	killagreg	1195	else
395	hbuss	1196	{
		1197	if(Looping_Unten) // Hysterese
		1198	{
		1199	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0;
		1200	}
1051	killagreg	1201	}
395	hbuss	1202
		1203	if(Looping_Links \|\| Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0;
1153	hbuss	1204	if(Looping_Oben \|\| Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0;
395	hbuss	1205	} // Ende neue Funken-Werte
		1206
		1207	if(Looping_Roll \|\| Looping_Nick)
		1208	{
173	holgerb	1209	if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
1153	hbuss	1210	TrichterFlug = 1;
173	holgerb	1211	}
		1212
1051	killagreg	1213
		1214	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		1215	// Bei Empfangsausfall im Flug
		1216	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1916	holgerb	1217	if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)
		1218	{
		1219	StickNick = -GPS_Nick;
		1220	StickRoll = -GPS_Roll;
2230	holgerb	1221	StickGas = StickGasHover;
1916	holgerb	1222	Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD \| CFG_DREHRATEN_BEGRENZER);
		1223	Parameter_GlobalConfig \|= CFG_HOEHENREGELUNG \| CFG_ACHSENKOPPLUNG_AKTIV \| CFG_KOMPASS_AKTIV \| CFG_GPS_AKTIV \| CFG_HOEHEN_SCHALTER \| CFG_GPS_AKTIV;
		1224	Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT \| CFG_LEARNABLE_CAREFREE \| CFG2_VARIO_BEEP);
		1225	Parameter_HoehenSchalter = 200; // switch on
		1226	}
		1227	else
1765	killagreg	1228	if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)
1	ingob	1229	{
		1230	StickGier = 0;
		1231	StickNick = 0;
		1232	StickRoll = 0;
1211	hbuss	1233	GyroFaktor = 90;
		1234	IntegralFaktor = 120;
		1235	GyroFaktorGier = 90;
		1236	IntegralFaktorGier = 120;
173	holgerb	1237	Looping_Roll = 0;
		1238	Looping_Nick = 0;
1051	killagreg	1239	}
395	hbuss	1240
1051	killagreg	1241	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1242	// Integrale auf ACC-Signal abgleichen
1051	killagreg	1243	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395	hbuss	1244	#define ABGLEICH_ANZAHL 256L
		1245
		1246	MittelIntegralNick += IntegralNick; // F�r die Mittelwertbildung aufsummieren
		1247	MittelIntegralRoll += IntegralRoll;
		1248	MittelIntegralNick2 += IntegralNick2;
		1249	MittelIntegralRoll2 += IntegralRoll2;
		1250
		1251	if(Looping_Nick \|\| Looping_Roll)
		1252	{
		1253	IntegralAccNick = 0;
		1254	IntegralAccRoll = 0;
		1255	MittelIntegralNick = 0;
		1256	MittelIntegralRoll = 0;
		1257	MittelIntegralNick2 = 0;
		1258	MittelIntegralRoll2 = 0;
		1259	Mess_IntegralNick2 = Mess_IntegralNick;
		1260	Mess_IntegralRoll2 = Mess_IntegralRoll;
		1261	ZaehlMessungen = 0;
498	hbuss	1262	LageKorrekturNick = 0;
		1263	LageKorrekturRoll = 0;
395	hbuss	1264	}
		1265
1051	killagreg	1266	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1224	hbuss	1267	if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 \|\| MotorenEin))
469	hbuss	1268	{
		1269	long tmp_long, tmp_long2;
1839	holgerb	1270	if(FromNaviCtrl_Value.Kalman_K > 0 /&& !TrichterFlug/)
992	hbuss	1271	{
1944	holgerb	1272	tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN));
		1273	tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR));
		1274	tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
		1275	tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
		1276	if((MaxStickNick > 64) \|\| (MaxStickRoll > 64))
		1277	{
		1278	tmp_long /= 2;
		1279	tmp_long2 /= 2;
		1280	}
2309	holgerb	1281	if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
1944	holgerb	1282	if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
		1283	if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
		1284	if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
992	hbuss	1285	}
1051	killagreg	1286	else
992	hbuss	1287	{
1944	holgerb	1288	tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
		1289	tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
		1290	tmp_long /= 16;
		1291	tmp_long2 /= 16;
		1292	if((MaxStickNick > 64) \|\| (MaxStickRoll > 64))
		1293	{
		1294	tmp_long /= 3;
		1295	tmp_long2 /= 3;
		1296	}
		1297	if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
		1298	{
		1299	tmp_long /= 3;
		1300	tmp_long2 /= 3;
		1301	}
		1302	KompassFusion = 25;
1155	hbuss	1303	#define AUSGLEICH 32
1944	holgerb	1304	if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH;
		1305	if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH;
		1306	if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH;
		1307	if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH;
992	hbuss	1308	}
1166	hbuss	1309
1111	hbuss	1310	Mess_IntegralNick -= tmp_long;
		1311	Mess_IntegralRoll -= tmp_long2;
469	hbuss	1312	}
1051	killagreg	1313	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395	hbuss	1314	if(ZaehlMessungen >= ABGLEICH_ANZAHL)
		1315	{
		1316	static int cnt = 0;
		1317	static char last_n_p,last_n_n,last_r_p,last_r_n;
		1318	static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt;
1173	hbuss	1319	if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp)
173	holgerb	1320	{
395	hbuss	1321	MittelIntegralNick /= ABGLEICH_ANZAHL;
		1322	MittelIntegralRoll /= ABGLEICH_ANZAHL;
		1323	IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL;
		1324	IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
		1325	IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL;
1707	holgerb	1326	#define MAX_I 0
395	hbuss	1327	// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
		1328	IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
		1329	ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich;
1051	killagreg	1330	// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
		1331	IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
395	hbuss	1332	ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
614	hbuss	1333
		1334	LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
498	hbuss	1335	LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
395	hbuss	1336
992	hbuss	1337	if(((MaxStickNick > 64) \|\| (MaxStickRoll > 64) \|\| (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1))
614	hbuss	1338	{
		1339	LageKorrekturNick /= 2;
720	ingob	1340	LageKorrekturRoll /= 2;
614	hbuss	1341	}
498	hbuss	1342
1051	killagreg	1343	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395	hbuss	1344	// Gyro-Drift ermitteln
1051	killagreg	1345	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395	hbuss	1346	MittelIntegralNick2 /= ABGLEICH_ANZAHL;
		1347	MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
1051	killagreg	1348	tmp_long = IntegralNick2 - IntegralNick;
		1349	tmp_long2 = IntegralRoll2 - IntegralRoll;
395	hbuss	1350
		1351	IntegralFehlerNick = tmp_long;
		1352	IntegralFehlerRoll = tmp_long2;
		1353	Mess_IntegralNick2 -= IntegralFehlerNick;
		1354	Mess_IntegralRoll2 -= IntegralFehlerRoll;
		1355
1111	hbuss	1356	if(EE_Parameter.Driftkomp)
		1357	{
1622	killagreg	1358	if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; }
		1359	if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; }
1111	hbuss	1360	}
693	hbuss	1361	GierGyroFehler = 0;
720	ingob	1362
1243	killagreg	1363	#define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2)
		1364	#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
1225	hbuss	1365	#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16
492	hbuss	1366	#define BEWEGUNGS_LIMIT 20000
395	hbuss	1367	// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
		1368	cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225	hbuss	1369	if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4;
1173	hbuss	1370	if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT \|\| (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492	hbuss	1371	{
1051	killagreg	1372	if(IntegralFehlerNick > FEHLER_LIMIT2)
395	hbuss	1373	{
1051	killagreg	1374	if(last_n_p)
395	hbuss	1375	{
1173	hbuss	1376	cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492	hbuss	1377	ausgleichNick = IntegralFehlerNick / 8;
401	hbuss	1378	if(ausgleichNick > 5000) ausgleichNick = 5000;
498	hbuss	1379	LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051	killagreg	1380	}
395	hbuss	1381	else last_n_p = 1;
		1382	} else last_n_p = 0;
1051	killagreg	1383	if(IntegralFehlerNick < -FEHLER_LIMIT2)
395	hbuss	1384	{
		1385	if(last_n_n)
1051	killagreg	1386	{
1173	hbuss	1387	cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492	hbuss	1388	ausgleichNick = IntegralFehlerNick / 8;
401	hbuss	1389	if(ausgleichNick < -5000) ausgleichNick = -5000;
498	hbuss	1390	LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051	killagreg	1391	}
395	hbuss	1392	else last_n_n = 1;
		1393	} else last_n_n = 0;
1051	killagreg	1394	}
		1395	else
847	hbuss	1396	{
		1397	cnt = 0;
1839	holgerb	1398	KompassSignalSchlecht = 100;
1051	killagreg	1399	}
499	hbuss	1400	if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173	hbuss	1401	if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395	hbuss	1402	if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt;
		1403	if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt;
401	hbuss	1404
395	hbuss	1405	// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
1695	holgerb	1406	cnt = 1;// + labs(IntegralFehlerRoll) / 4096;
1225	hbuss	1407	if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4;
1173	hbuss	1408	if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT \|\| (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492	hbuss	1409	{
1051	killagreg	1410	if(IntegralFehlerRoll > FEHLER_LIMIT2)
395	hbuss	1411	{
1051	killagreg	1412	if(last_r_p)
395	hbuss	1413	{
1173	hbuss	1414	cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492	hbuss	1415	ausgleichRoll = IntegralFehlerRoll / 8;
401	hbuss	1416	if(ausgleichRoll > 5000) ausgleichRoll = 5000;
498	hbuss	1417	LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
1051	killagreg	1418	}
395	hbuss	1419	else last_r_p = 1;
		1420	} else last_r_p = 0;
1051	killagreg	1421	if(IntegralFehlerRoll < -FEHLER_LIMIT2)
395	hbuss	1422	{
1051	killagreg	1423	if(last_r_n)
395	hbuss	1424	{
1173	hbuss	1425	cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492	hbuss	1426	ausgleichRoll = IntegralFehlerRoll / 8;
401	hbuss	1427	if(ausgleichRoll < -5000) ausgleichRoll = -5000;
498	hbuss	1428	LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
395	hbuss	1429	}
		1430	else last_r_n = 1;
		1431	} else last_r_n = 0;
1051	killagreg	1432	} else
492	hbuss	1433	{
		1434	cnt = 0;
1839	holgerb	1435	KompassSignalSchlecht = 100;
1051	killagreg	1436	}
499	hbuss	1437	if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173	hbuss	1438	if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395	hbuss	1439	if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt;
		1440	if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt;
173	holgerb	1441	}
1051	killagreg	1442	else
498	hbuss	1443	{
		1444	LageKorrekturRoll = 0;
		1445	LageKorrekturNick = 0;
880	hbuss	1446	TrichterFlug = 0;
498	hbuss	1447	}
1051	killagreg	1448
498	hbuss	1449	if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
1051	killagreg	1450	// +++++++++++++++++++++++++++++++++++++++++++++++++++++
		1451	MittelIntegralNick_Alt = MittelIntegralNick;
		1452	MittelIntegralRoll_Alt = MittelIntegralRoll;
		1453	// +++++++++++++++++++++++++++++++++++++++++++++++++++++
395	hbuss	1454	IntegralAccNick = 0;
		1455	IntegralAccRoll = 0;
		1456	IntegralAccZ = 0;
		1457	MittelIntegralNick = 0;
		1458	MittelIntegralRoll = 0;
		1459	MittelIntegralNick2 = 0;
		1460	MittelIntegralRoll2 = 0;
		1461	ZaehlMessungen = 0;
1173	hbuss	1462	} // ZaehlMessungen >= ABGLEICH_ANZAHL
395	hbuss	1463
1051	killagreg	1464	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1465	// Gieren
1051	killagreg	1466	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1840	holgerb	1467	if(abs(StickGier) > 3) // war 15
1	ingob	1468	{
1839	holgerb	1469	// KompassSignalSchlecht = 1000;
1916	holgerb	1470	if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX))
1051	killagreg	1471	{
1840	holgerb	1472	NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen
824	hbuss	1473	};
1	ingob	1474	}
1944	holgerb	1475	tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx�
		1476	tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4;
2309	holgerb	1477	if(GasIsZeroCnt > 512) tmp_int = 0; // disable Yawing when Gas-Stick is to Zero
1840	holgerb	1478	tmp_int += CompassGierSetpoint;
173	holgerb	1479	sollGier = tmp_int;
1051	killagreg	1480	Mess_Integral_Gier -= tmp_int;
395	hbuss	1481	if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen
		1482	if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
1051	killagreg	1483
		1484	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1485	// Kompass
1051	killagreg	1486	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1916	holgerb	1487	if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV))
1	ingob	1488	{
1839	holgerb	1489	if(CalculateCompassTimer-- == 1)
		1490	{
		1491	int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt
		1492	CalculateCompassTimer = 13; // falls keine Navi-Daten
1840	holgerb	1493	// max. Korrekturwert sch�tzen
1	ingob	1494	w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
		1495	v = abs(IntegralRoll /512);
		1496	if(v > w) w = v; // gr�sste Neigung ermitteln
1972	holgerb	1497	// korrektur = w / 4 + 1;
		1498	korrektur = w / 8 + 2;
1941	holgerb	1499	ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR;
1840	holgerb	1500	// Kompassfehlerwert bestimmen
1941	holgerb	1501	fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180;
1840	holgerb	1502	// GIER_GRAD_FAKTOR ist ca. 1200
		1503	// Kompasswert einloggen
		1504	if(KompassSignalSchlecht) KompassSignalSchlecht--;
		1505	else
		1506	if(w < 25)
921	hbuss	1507	{
		1508	GierGyroFehler += fehler;
1051	killagreg	1509	if(NeueKompassRichtungMerken)
		1510	{
1839	holgerb	1511	if(--NeueKompassRichtungMerken == 0)
		1512	{
1941	holgerb	1513	KompassSollWert = ErsatzKompassInGrad;
1839	holgerb	1514	}
921	hbuss	1515	}
1	ingob	1516	}
1840	holgerb	1517	// Kompass fusionieren
1839	holgerb	1518	if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur;
1941	holgerb	1519	// MK Gieren
		1520	if(!NeueKompassRichtungMerken)
1839	holgerb	1521	{
1941	holgerb	1522	r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180;
1839	holgerb	1523	v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten
1840	holgerb	1524	CompassGierSetpoint = v / 16;
		1525	}
1865	holgerb	1526	else CompassGierSetpoint = 0;
1839	holgerb	1527	} // CalculateCompassTimer
1051	killagreg	1528	}
1840	holgerb	1529	else CompassGierSetpoint = 0;
1972	holgerb	1530
		1531	//DebugOut.Analog[16] = KompassFusion;
1051	killagreg	1532	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1533	// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
1051	killagreg	1534	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216	killagreg	1535	if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;};
604	hbuss	1536
1171	hbuss	1537	if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
		1538	if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
1153	hbuss	1539
1167	hbuss	1540	#define TRIM_MAX 200
1166	hbuss	1541	if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
		1542	if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
1153	hbuss	1543
1166	hbuss	1544	MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
		1545	MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
1211	hbuss	1546	MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
1166	hbuss	1547
1	ingob	1548	// Maximalwerte abfangen
1685	holgerb	1549	#define MAX_SENSOR (4096)
1216	killagreg	1550	if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR;
1	ingob	1551	if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
		1552	if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR;
		1553	if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
		1554	if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR;
		1555	if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
		1556
1051	killagreg	1557	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1558	// H�henregelung
1051	killagreg	1559	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1374	hbuss	1560	if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
855	hbuss	1561	GasMischanteil *= STICK_GAIN;
1309	hbuss	1562	// if height control is activated
2334	holgerb	1563	if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll \|\| Looping_Nick) && !(VersionInfo.HardwareError[0] & 0x7F)) // H�henregelung
1309	hbuss	1564	{
1698	holgerb	1565	#define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging
1332	hbuss	1566	#define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging
1638	holgerb	1567
		1568	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		1569	#define OPA_OFFSET_STEP 15
1642	killagreg	1570	#else
1638	holgerb	1571	#define OPA_OFFSET_STEP 10
		1572	#endif
2309	holgerb	1573	int HCGas, GasReduction = 0;
1309	hbuss	1574	static int HeightTrimming = 0; // rate for change of height setpoint
2309	holgerb	1575	static int HeightDeviation = 0, FilterHCGas = 0;
1587	killagreg	1576	static unsigned long HoverGasFilter = 0;
1322	hbuss	1577	static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
1330	killagreg	1578
1642	killagreg	1579
1322	hbuss	1580	// Expand the measurement
		1581	// measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
		1582	if(!BaroExpandActive)
		1583	{
		1584	if(MessLuftdruck > 920)
		1585	{ // increase offset
1330	killagreg	1586	if(OCR0A < (255 - OPA_OFFSET_STEP))
1322	hbuss	1587	{
		1588	ExpandBaro -= 1;
		1589	OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
		1590	beeptime = 300;
1352	hbuss	1591	BaroExpandActive = 350;
1330	killagreg	1592	}
		1593	else
1322	hbuss	1594	{
		1595	BaroAtLowerLimit = 1;
		1596	}
		1597	}
		1598	// measurement of air pressure close to lower limit and
1330	killagreg	1599	else
1322	hbuss	1600	if(MessLuftdruck < 100)
		1601	{ // decrease offset
1330	killagreg	1602	if(OCR0A > OPA_OFFSET_STEP)
1322	hbuss	1603	{
		1604	ExpandBaro += 1;
		1605	OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
		1606	beeptime = 300;
1352	hbuss	1607	BaroExpandActive = 350;
1330	killagreg	1608	}
		1609	else
1322	hbuss	1610	{
		1611	BaroAtUpperLimit = 1;
		1612	}
		1613	}
1330	killagreg	1614	else
1322	hbuss	1615	{
		1616	BaroAtUpperLimit = 0;
		1617	BaroAtLowerLimit = 0;
		1618	}
		1619	}
		1620	else // delay, because of expanding the Baro-Range
		1621	{
		1622	// now clear the D-values
2316	holgerb	1623	VarioMeter = 0;
2309	holgerb	1624	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2316	holgerb	1625	if(ACC_AltitudeControl) ACC_AltitudeFusion(1); // init
2309	holgerb	1626	else SummenHoehe = HoehenWert * SM_FILTER;
		1627	#else
		1628	SummenHoehe = HoehenWert * SM_FILTER;
		1629	#endif
1322	hbuss	1630	BaroExpandActive--;
		1631	}
1328	hbuss	1632	// if height control is activated by an rc channel
1916	holgerb	1633	if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird �ber Schalter gesteuert
1328	hbuss	1634	{ // check if parameter is less than activation threshold
1916	holgerb	1635	if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position
1328	hbuss	1636	{ //height control not active
		1637	if(!delay--)
		1638	{
2090	holgerb	1639	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2263	holgerb	1640	if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF;
2090	holgerb	1641	#endif
1328	hbuss	1642	HoehenReglerAktiv = 0; // disable height control
		1643	SollHoehe = HoehenWert; // update SetPoint with current reading
		1644	delay = 1;
		1645	}
		1646	}
		1647	else
2090	holgerb	1648	if(Parameter_HoehenSchalter > 70)
1328	hbuss	1649	{ //height control is activated
2090	holgerb	1650	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2263	holgerb	1651	if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON;
2090	holgerb	1652	#endif
2263	holgerb	1653	delay = 200;
1328	hbuss	1654	HoehenReglerAktiv = 1; // enable height control
		1655	}
1051	killagreg	1656	}
1309	hbuss	1657	else // no switchable height control
		1658	{
1916	holgerb	1659	SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung;
1309	hbuss	1660	HoehenReglerAktiv = 1;
1051	killagreg	1661	}
1320	hbuss	1662	// calculate cos of nick and roll angle used for projection of the vertical hoover gas
1330	killagreg	1663	tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg
		1664	tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg
		1665	CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
1320	hbuss	1666	LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
		1667	CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude
1591	holgerb	1668	VarioCharacter = ' ';
1942	holgerb	1669	AltitudeSetpointTrimming = 0;
1765	killagreg	1670	if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
1309	hbuss	1671	{
1330	killagreg	1672	#define HEIGHT_CONTROL_STICKTHRESHOLD 15
1309	hbuss	1673	// Holger original version
		1674	// start of height control algorithm
		1675	// the height control is only an attenuation of the actual gas stick.
		1676	// I.e. it will work only if the gas stick is higher than the hover gas
		1677	// and the hover height will be allways larger than height setpoint.
1861	holgerb	1678	FC_StatusFlags2 \|= FC_STATUS2_ALTITUDE_CONTROL;
1916	holgerb	1679	if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) \|\| !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird �ber Schalter gesteuert)
1314	killagreg	1680	{ // old version
1309	hbuss	1681	HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
		1682	HeightTrimming = 0;
1942	holgerb	1683	AltitudeSetpointTrimming = 0;
1773	killagreg	1684	// set both flags to indicate no vario mode
		1685	FC_StatusFlags \|= (FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN);
1309	hbuss	1686	}
1314	killagreg	1687	else
1309	hbuss	1688	{
		1689	// alternative height control
		1690	// PD-Control with respect to hoover point
		1691	// the thrust loss out of horizontal attitude is compensated
		1692	// the setpoint will be fine adjusted with the gas stick position
1943	holgerb	1693	if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying
1309	hbuss	1694	{ // gas stick is above hoover point
1587	killagreg	1695	if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
1309	hbuss	1696	{
2309	holgerb	1697	if(HeightDeviation > 20) SollHoehe = HoehenWertF; // update setpoint to current heigth
1767	killagreg	1698	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN)
1309	hbuss	1699	{
1767	killagreg	1700	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;
2309	holgerb	1701	SollHoehe = HoehenWertF; // update setpoint to current heigth
1309	hbuss	1702	}
1767	killagreg	1703	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_UP;
1966	holgerb	1704	// Limit the maximum Altitude
		1705	if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0;
		1706	else
		1707	{
		1708	// SollHoehe = (long) Parameter_MaximumAltitude * 100L;
		1709	// HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
1942	holgerb	1710	AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));
1591	holgerb	1711	VarioCharacter = '+';
1966	holgerb	1712	}
1865	holgerb	1713	WaypointTrimming = 0;
1309	hbuss	1714	} // gas stick is below hoover point
1587	killagreg	1715	else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )
1309	hbuss	1716	{
1767	killagreg	1717	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP)
1309	hbuss	1718	{
1767	killagreg	1719	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;
2309	holgerb	1720	SollHoehe = HoehenWertF; // update setpoint to current heigth
1309	hbuss	1721	}
1767	killagreg	1722	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_DOWN;
1942	holgerb	1723	AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
		1724	// HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
1591	holgerb	1725	VarioCharacter = '-';
1865	holgerb	1726	WaypointTrimming = 0;
1309	hbuss	1727	}
1587	killagreg	1728	else // Gas Stick in Hover Range
1309	hbuss	1729	{
1855	holgerb	1730	VarioCharacter = '=';
1857	holgerb	1731	if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen
1855	holgerb	1732	{
		1733	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_UP;
1942	holgerb	1734	AltitudeSetpointTrimming = FromNC_AltitudeSpeed;
		1735	//HeightTrimming += FromNC_AltitudeSpeed;
1857	holgerb	1736	WaypointTrimming = 10;
		1737	VarioCharacter = '^';
1865	holgerb	1738	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising
		1739	{
		1740	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;
2309	holgerb	1741	SollHoehe = HoehenWertF; // update setpoint to current heigth
1865	holgerb	1742	}
1855	holgerb	1743	}
		1744	else
1857	holgerb	1745	if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken
1855	holgerb	1746	{
		1747	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_DOWN;
1942	holgerb	1748	AltitudeSetpointTrimming = -FromNC_AltitudeSpeed;
		1749	//HeightTrimming -= FromNC_AltitudeSpeed;
1857	holgerb	1750	WaypointTrimming = -10;
		1751	VarioCharacter = 'v';
1865	holgerb	1752	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking
		1753	{
		1754	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;
2309	holgerb	1755	SollHoehe = HoehenWertF; // update setpoint to current heigth
1865	holgerb	1756	}
1855	holgerb	1757	}
		1758	else
1767	killagreg	1759	if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN))
1309	hbuss	1760	{
2309	holgerb	1761	if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-200), (HoehenWertF+200)) // max. 2m Unterschied
1933	holgerb	1762	else WaypointTrimming = 0;
1767	killagreg	1763	FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN);
1309	hbuss	1764	HeightTrimming = 0;
1916	holgerb	1765	if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500;
1698	holgerb	1766	if(!StartTrigger && HoehenWert > 50)
		1767	{
		1768	StartTrigger = 1;
1765	killagreg	1769	}
1309	hbuss	1770	}
		1771	}
		1772	// Trim height set point
1942	holgerb	1773	HeightTrimming += AltitudeSetpointTrimming;
		1774	if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz
1309	hbuss	1775	{
1857	holgerb	1776	if(WaypointTrimming)
		1777	{
		1778	if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint;
		1779	else SollHoehe += WaypointTrimming;
		1780	}
		1781	else
1966	holgerb	1782	{
		1783	if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3;
		1784	else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3;
		1785	}
1309	hbuss	1786	HeightTrimming = 0;
1932	holgerb	1787	LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied
1916	holgerb	1788	if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100;
1320	hbuss	1789	//update hoover gas stick value when setpoint is shifted
1857	holgerb	1790	if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0)
1332	hbuss	1791	{
1587	killagreg	1792	StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value
		1793	StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning;
		1794	if(StickGasHover < 70) StickGasHover = 70;
		1795	else if(StickGasHover > 150) StickGasHover = 150;
1332	hbuss	1796	}
1309	hbuss	1797	}
2309	holgerb	1798	if(BaroExpandActive) SollHoehe = HoehenWertF; // update setpoint to current altitude if Expanding is active
1420	killagreg	1799	} //if FCFlags & MKFCFLAG_FLY
1330	killagreg	1800	else
		1801	{
1322	hbuss	1802	SollHoehe = HoehenWert - 400;
1587	killagreg	1803	if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
		1804	else StickGasHover = 120;
1698	holgerb	1805	HoverGas = GasMischanteil;
1972	holgerb	1806	VarioCharacter = '.';
1320	hbuss	1807	}
1590	killagreg	1808	HCGas = HoverGas; // take hover gas (neutral point)
		1809	}
2309	holgerb	1810	if(HoehenWertF > SollHoehe \|\| !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT))
1283	hbuss	1811	{
2316	holgerb	1812	if(!ACC_AltitudeControl)
		1813	{
1590	killagreg	1814	// from this point the Heigth Control Algorithm is identical for both versions
		1815	if(BaroExpandActive) // baro range expanding active
		1816	{
		1817	HCGas = HoverGas; // hover while expanding baro adc range
		1818	HeightDeviation = 0;
		1819	} // EOF // baro range expanding active
		1820	else // valid data from air pressure sensor
		1821	{
		1822	// ------------------------- P-Part ----------------------------
2309	holgerb	1823	tmp_long = (HoehenWertF - SollHoehe); // positive when too high
1590	killagreg	1824	LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t
		1825	HeightDeviation = (int)(tmp_long); // positive when too high
1695	holgerb	1826	tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part
1698	holgerb	1827	LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense
		1828	GasReduction = tmp_long;
1590	killagreg	1829	// ------------------------- D-Part 1: Vario Meter ----------------------------
		1830	tmp_int = VarioMeter / 8;
1765	killagreg	1831	LIMIT_MIN_MAX(tmp_int, -127, 128);
1705	holgerb	1832	tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter
		1833	LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN);
1767	killagreg	1834	if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint
1765	killagreg	1835	else
1916	holgerb	1836	if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode
1698	holgerb	1837	GasReduction += tmp_int;
1590	killagreg	1838	} // EOF no baro range expanding
1309	hbuss	1839	// ------------------------ D-Part 2: ACC-Z Integral ------------------------
1698	holgerb	1840	if(Parameter_Hoehe_ACC_Wirkung)
		1841	{
		1842	tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN);
		1843	LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN);
		1844	GasReduction += tmp_long;
1765	killagreg	1845	}
1587	killagreg	1846	// ------------------------ D-Part 3: GpsZ ----------------------------------
1588	killagreg	1847	tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L;
		1848	LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN);
1698	holgerb	1849	GasReduction += tmp_int;
1701	holgerb	1850	GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value
2309	holgerb	1851
1701	holgerb	1852	// ------------------------ ----------------------------------
		1853	HCGas -= GasReduction;
1309	hbuss	1854	// limit deviation from hoover point within the target region
1942	holgerb	1855	if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero
1309	hbuss	1856	{
1765	killagreg	1857	unsigned int tmp;
1705	holgerb	1858	tmp = abs(HeightDeviation);
		1859	if(tmp <= 60)
		1860	{
		1861	LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point
		1862	}
		1863	else
1765	killagreg	1864	{
1705	holgerb	1865	tmp = (tmp - 60) / 32;
1692	holgerb	1866	if(tmp > 15) tmp = 15;
1705	holgerb	1867	if(HeightDeviation > 0)
1693	holgerb	1868	{
1705	holgerb	1869	tmp = (HoverGasMin * (16 - tmp)) / 16;
		1870	LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point
1693	holgerb	1871	}
1705	holgerb	1872	else
		1873	{
		1874	tmp = (HoverGasMax * (tmp + 16)) / 16;
		1875	LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point
		1876	}
		1877	}
1309	hbuss	1878	}
1322	hbuss	1879	// strech control output by inverse attitude projection 1/cos
		1880	// + 1/cos(angle) ++++++++++++++++++++++++++
1330	killagreg	1881	tmp_long2 = (int32_t)HCGas;
		1882	tmp_long2 *= 8192L;
		1883	tmp_long2 /= CosAttitude;
		1884	HCGas = (int16_t)tmp_long2;
1309	hbuss	1885	// update height control gas averaging
		1886	FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
		1887	// limit height control gas pd-control output
		1888	LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
		1889	// set GasMischanteil to HeightControlGasFilter
1916	holgerb	1890	if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)
1587	killagreg	1891	{ // old version
		1892	LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas
1719	holgerb	1893	GasMischanteil = FilterHCGas;
1765	killagreg	1894	}
1719	holgerb	1895	else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode
2316	holgerb	1896	}
2320	holgerb	1897	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2316	holgerb	1898	else // ACC-Altitude control
		1899	{
2309	holgerb	1900	// from this point the Heigth Control Algorithm is identical for both versions
		1901	if(BaroExpandActive) // baro range expanding active
		1902	{
		1903	HCGas = HoverGas; // hover while expanding baro adc range
		1904	HeightDeviation = 0;
		1905	} // EOF // baro range expanding active
		1906	else // valid data from air pressure sensor
		1907	{
		1908	// ------------------------- P-Part ----------------------------
		1909	tmp_long = (HoehenWertF - SollHoehe); // positive when too high
		1910	LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t
		1911	HeightDeviation = (int)(tmp_long); // positive when too high
		1912	tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part
		1913	LIMIT_MIN_MAX(tmp_long, -511 * STICK_GAIN, 512 * STICK_GAIN); // more than full range makes sense
		1914	GasReduction = tmp_long;
		1915	// ------------------------ D-Part: ACC-Z Integral ------------------------
2316	holgerb	1916	tmp_long = VarioMeter + (AdWertAccHoch * Parameter_Hoehe_ACC_Wirkung)/256;
2309	holgerb	1917	// ------------------------- D-Part: Vario Meter ----------------------------
		1918	if(WaypointTrimming) {
		1919	Variance = AltitudeSetpointTrimming * 8;
		1920	} else {
		1921	Variance = AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung*9/32;
		1922	}
		1923	tmp_long -= (long)Variance;
		1924	tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 32; // scale to d-gain parameter
		1925	LIMIT_MIN_MAX(tmp_long,-511 * STICK_GAIN, 512 * STICK_GAIN);
		1926	GasReduction += tmp_long;
		1927	} // EOF no baro range expanding
		1928	HCGas -= GasReduction;
		1929	LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limits gas around hover point
		1930	// strech control output by inverse attitude projection 1/cos
		1931	// + 1/cos(angle) ++++++++++++++++++++++++++
		1932	tmp_long2 = (int32_t)HCGas;
		1933	tmp_long2 *= 8192L;
		1934	tmp_long2 /= CosAttitude;
		1935	HCGas = (int16_t)tmp_long2;
		1936	// update height control gas averaging
		1937	FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
		1938	// limit height control gas pd-control output
		1939	LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
		1940	// set GasMischanteil to HeightControlGasFilter
		1941	if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)
		1942	{ // old version
		1943	LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas
		1944	GasMischanteil = FilterHCGas;
		1945	}
2316	holgerb	1946	else GasMischanteil = FilterHCGas;
		1947	} // end of ACC-Altitude control
2320	holgerb	1948	#endif
1314	killagreg	1949	}
1309	hbuss	1950	}// EOF height control active
1320	hbuss	1951	else // HC not active
		1952	{
		1953	//update hoover gas stick value when HC is not active
1587	killagreg	1954	if(!EE_Parameter.Hoehe_StickNeutralPoint)
		1955	{
		1956	StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value
		1957	StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning;
1322	hbuss	1958	}
1587	killagreg	1959	else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
		1960	LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down
1328	hbuss	1961	FilterHCGas = GasMischanteil;
1773	killagreg	1962	// set both flags to indicate no vario mode
		1963	FC_StatusFlags \|= (FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN);
1861	holgerb	1964	FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL;
1330	killagreg	1965	}
1587	killagreg	1966	// Hover gas estimation by averaging gas control output on small z-velocities
1309	hbuss	1967	// this is done only if height contol option is selected in global config and aircraft is flying
1765	killagreg	1968	if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING))
1309	hbuss	1969	{
2316	holgerb	1970	//if(HoverGasFilter == 0 \|\| StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
2318	holgerb	1971	if(HoverGasFilter == 0 \|\| StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(HoverGas); // 0.90f: ge�ndert
1698	holgerb	1972	if(StartTrigger == 1) StartTrigger = 2;
1330	killagreg	1973	tmp_long2 = (int32_t)GasMischanteil; // take current thrust
		1974	tmp_long2 *= CosAttitude; // apply attitude projection
		1975	tmp_long2 /= 8192;
1309	hbuss	1976	// average vertical projected thrust
1698	holgerb	1977	if(modell_fliegt < 4000) // the first 8 seconds
		1978	{ // reduce the time constant of averaging by factor of 4 to get much faster a stable value
		1979	HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L);
		1980	HoverGasFilter += 16L * tmp_long2;
1309	hbuss	1981	}
1698	holgerb	1982	if(modell_fliegt < 8000) // the first 16 seconds
		1983	{ // reduce the time constant of averaging by factor of 2 to get much faster a stable value
1590	killagreg	1984	HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L);
1587	killagreg	1985	HoverGasFilter += 4L * tmp_long2;
1309	hbuss	1986	}
1698	holgerb	1987	else //later
2316	holgerb	1988	if(abs(VarioMeter) < 100 && abs(HoehenWertF - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending)
1309	hbuss	1989	{
1590	killagreg	1990	HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE;
1587	killagreg	1991	HoverGasFilter += tmp_long2;
1309	hbuss	1992	}
1590	killagreg	1993	HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE);
1309	hbuss	1994	if(EE_Parameter.Hoehe_HoverBand)
		1995	{
		1996	int16_t band;
1587	killagreg	1997	band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
		1998	HoverGasMin = HoverGas - band;
		1999	HoverGasMax = HoverGas + band;
1309	hbuss	2000	}
		2001	else
		2002	{ // no limit
1587	killagreg	2003	HoverGasMin = 0;
		2004	HoverGasMax = 1023;
1309	hbuss	2005	}
1765	killagreg	2006	}
		2007	else
1698	holgerb	2008	{
		2009	StartTrigger = 0;
		2010	HoverGasFilter = 0;
		2011	HoverGas = 0;
1765	killagreg	2012	}
1916	holgerb	2013	}// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL
1773	killagreg	2014	else
		2015	{
		2016	// set undefined state to indicate vario off
		2017	FC_StatusFlags \|= (FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN);
		2018	} // EOF no height control
		2019
2309	holgerb	2020	// Limits the maximum gas in case of "Out of Range emergency landing"
2009	holgerb	2021	if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING)
		2022	{
2028	holgerb	2023	if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN;
2309	holgerb	2024	SollHoehe = HoehenWertF; // update setpoint to current heigth
2009	holgerb	2025	beeptime = 15000;
		2026	BeepMuster = 0x0E00;
		2027	}
2028	holgerb	2028	// limit gas to parameter setting
1320	hbuss	2029	LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
855	hbuss	2030	if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
1111	hbuss	2031
1051	killagreg	2032	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1320	hbuss	2033	// all BL-Ctrl connected?
		2034	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1944	holgerb	2035	if(MissingMotor \|\| Capacity.MinOfMaxPWM != 255 \|\| NC_ErrorCode) // wait until all BL-Ctrls started and no Errors
1931	holgerb	2036	if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase
1320	hbuss	2037	{
		2038	modell_fliegt = 1;
1675	holgerb	2039	GasMischanteil = (MIN_GAS + 10) * STICK_GAIN;
1320	hbuss	2040	}
		2041	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	2042	// + Mischer und PI-Regler
1051	killagreg	2043	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173	holgerb	2044	DebugOut.Analog[7] = GasMischanteil;
1051	killagreg	2045	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	2046	// Gier-Anteil
1051	killagreg	2047	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
855	hbuss	2048	GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler f�r Gier
		2049	#define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren
693	hbuss	2050	if(GasMischanteil > MIN_GIERGAS)
		2051	{
1051	killagreg	2052	if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
		2053	if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
693	hbuss	2054	}
1051	killagreg	2055	else
693	hbuss	2056	{
1051	killagreg	2057	if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2;
		2058	if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2);
693	hbuss	2059	}
855	hbuss	2060	tmp_int = MAX_GAS*STICK_GAIN;
1051	killagreg	2061	if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil));
855	hbuss	2062	if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil));
513	hbuss	2063
1051	killagreg	2064	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	2065	// Nick-Achse
1051	killagreg	2066	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
723	hbuss	2067	DiffNick = MesswertNick - StickNick; // Differenz bestimmen
1153	hbuss	2068	if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung
1051	killagreg	2069	else SummeNick += DiffNick; // I-Anteil bei HH
855	hbuss	2070	if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L);
		2071	if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN);
1791	holgerb	2072
		2073	if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler f�r Nick
		2074	else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // �berlauf verhindern
		2075	pd_ergebnis_nick += SummeNick / Ki;
		2076
1676	holgerb	2077	tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153	hbuss	2078	if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int;
		2079	if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
173	holgerb	2080
1153	hbuss	2081	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2082	// Roll-Achse
		2083	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2084	DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen
		2085	if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
		2086	else SummeRoll += DiffRoll; // I-Anteil bei HH
		2087	if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L);
		2088	if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
1791	holgerb	2089
		2090	if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler f�r Roll
		2091	else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // �berlauf verhindern
		2092	pd_ergebnis_roll += SummeRoll / Ki;
		2093
1676	holgerb	2094	tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153	hbuss	2095	if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int;
		2096	if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
		2097
		2098	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1209	hbuss	2099	// Universal Mixer
1155	hbuss	2100	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1642	killagreg	2101	for(i=0; i<MAX_MOTORS; i++)
		2102	{
		2103	signed int tmp_int;
		2104	if(Mixer.Motor[i][0] > 0)
		2105	{
1652	holgerb	2106	// Gas
1676	holgerb	2107	if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
1652	holgerb	2108	// Nick
		2109	if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick;
		2110	else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick;
		2111	else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
		2112	// Roll
		2113	if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll;
		2114	else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll;
		2115	else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
		2116	// Gier
1676	holgerb	2117	if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil;
		2118	else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil;
		2119	else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
1675	holgerb	2120
1913	holgerb	2121	if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing
		2122	// else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing
		2123	else
		2124	{
		2125	if(EE_Parameter.MotorSmooth == 0)
		2126	{
1931	holgerb	2127	tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing
1913	holgerb	2128	}
		2129	else // 1 means tmp_int = tmp_int;
		2130	if(EE_Parameter.MotorSmooth > 1)
		2131	{
		2132	// If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value.
1925	holgerb	2133	tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth);
1913	holgerb	2134	}
		2135	}
1931	holgerb	2136
1760	holgerb	2137	LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4);
1676	holgerb	2138	Motor[i].SetPoint = tmp_int / 4;
1677	killagreg	2139	Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total)
1652	holgerb	2140	tmp_motorwert[i] = tmp_int;
1642	killagreg	2141	}
		2142	else
		2143	{
		2144	Motor[i].SetPoint = 0;
		2145	Motor[i].SetPointLowerBits = 0;
		2146	}
		2147	}
1111	hbuss	2148	}
2090	holgerb	2149	//DebugOut.Analog[16]

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(root)/branches/V0.91L_ACC-HH_MartinR/fc.c - Rev 2345