| /beta/Code Redesign killagreg/analog.c |
|---|
| 337,16 → 337,17 |
| case 9: |
| AdAirPressure = ADC; // update meassured air pressure, changes -523 counts per OPA_OFFSET_STEP |
| tmpAirPressure += AdAirPressure; |
| #define SM_FILTER 16 |
| if(++AirPressCount >= AIR_PRESSURE_SCALE) |
| { |
| #define AIRPRESSURE_FILTER_TIME 8 |
| AirPressure = (AirPressure * (AIRPRESSURE_FILTER_TIME - 1) + tmpAirPressure + (AIR_PRESSURE_SCALE * EXPANDBARO_ADC_SHIFT) * (int32_t)ExpandBaro + AIRPRESSURE_FILTER_TIME/2)/AIRPRESSURE_FILTER_TIME; |
| ReadingHeight = (StartAirPressure - AirPressure); // change of air pressure to ground |
| SumHeight -= SumHeight/8; |
| SumHeight -= SumHeight/SM_FILTER; |
| SumHeight += ReadingHeight; |
| ReadingVario = (3 * ReadingVario + 25 * (int16_t)(ReadingHeight - SumHeight/8))/4; |
| tmpAirPressure = 0; |
| AirPressCount = 0; |
| ReadingVario = (15 * ReadingVario + 8 * (int16_t)(ReadingHeight - SumHeight/SM_FILTER))/16; |
| tmpAirPressure /= 2; |
| AirPressCount = AIR_PRESSURE_SCALE/2; |
| } |
| ad_channel = AD_GYRO_NICK; |
| break; |
| /beta/Code Redesign killagreg/dsl.c |
|---|
| 113,7 → 113,7 |
| int16_t tmp; |
| uint8_t index = channel + 1; // mk channels start with 1 |
| if(index >= 0 && index < MAX_CHANNELS) |
| if(index > 0 && index < MAX_CHANNELS) |
| { |
| if(RC_Channels < index) RC_Channels = index; |
| /beta/Code Redesign killagreg/eeprom.c |
|---|
| 114,7 → 114,7 |
| ParamSet.HeightP = 10; |
| ParamSet.HeightD = 30; |
| ParamSet.Height_ACC_Effect = 30; |
| ParamSet.Height_Gain = 4; |
| ParamSet.Height_Gain = 20; |
| ParamSet.StickP = 14; |
| ParamSet.StickD = 16; |
| ParamSet.StickYawP = 12; |
| 216,7 → 216,7 |
| ParamSet.HeightP = 10; |
| ParamSet.HeightD = 30; |
| ParamSet.Height_ACC_Effect = 30; |
| ParamSet.Height_Gain = 3; |
| ParamSet.Height_Gain = 15; |
| ParamSet.StickP = 10; |
| ParamSet.StickD = 16; |
| ParamSet.StickYawP = 6; |
| 318,7 → 318,7 |
| ParamSet.HeightP = 10; |
| ParamSet.HeightD = 30; |
| ParamSet.Height_ACC_Effect = 30; |
| ParamSet.Height_Gain = 3; |
| ParamSet.Height_Gain = 15; |
| ParamSet.StickP = 8; |
| ParamSet.StickD = 16; |
| ParamSet.StickYawP = 6; |
| /beta/Code Redesign killagreg/eeprom.h |
|---|
| 61,6 → 61,10 |
| #define CFG_LOOP_DOWN 0x02 |
| #define CFG_LOOP_LEFT 0x04 |
| #define CFG_LOOP_RIGHT 0x08 |
| #define CFG_MOTOR_BLINK 0x10 |
| #define CFG_RES2 0x20 |
| #define CFG_RES3 0x40 |
| #define CFG_RES4 0x80 |
| // defines for lookup ParamSet.ChannelAssignment |
| #define CH_NICK 0 |
| /beta/Code Redesign killagreg/fc.c |
|---|
| 1665,7 → 1665,6 |
| HeightControlGas = GasMixFraction; // take stick gas |
| HeightControlGas -= ((int16_t)(ReadingHeight - SetPointHeight) * (int16_t)FCParam.HeightP) / 16; // p-part |
| HeightControlGas -= (FCParam.HeightD * ReadingVario) / 128; // d-part |
| //HeightControlGas -= (HeightD) / (8 / STICK_GAIN); // d-part |
| // acceleration sensor effect |
| tmp_int = ((ReadingIntegralTop / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN); |
| LIMIT_MIN_MAX(tmp_int, -(70 * STICK_GAIN), 70 * STICK_GAIN); // limit acceleration sensor effect |
| /beta/Code Redesign killagreg/led.c |
|---|
| 90,7 → 90,7 |
| J17Bitmask = ParamSet.J17Bitmask; |
| } |
| if ((ParamSet.J16Timing > 250) && (FCParam.J16Timing > 230)) |
| if( ((ParamSet.J16Timing > 250) && (FCParam.J16Timing > 230)) || ( (ParamSet.BitConfig & CFG_MOTOR_BLINK) && (MKFlags & MKFLAG_MOTOR_RUN)) ) |
| { |
| if(J16Bitmask & 128) J16_ON; |
| else J16_OFF; |
| 107,7 → 107,7 |
| if(J16Mask & J16Bitmask) J16_ON; else J16_OFF; |
| } |
| if ((ParamSet.J17Timing > 250) && (FCParam.J17Timing > 230)) |
| if( ((ParamSet.J17Timing > 250) && (FCParam.J17Timing > 230) ) || ( (ParamSet.BitConfig & CFG_MOTOR_BLINK) && (MKFlags & MKFLAG_MOTOR_RUN)) ) |
| { |
| if(J17Bitmask & 128) J17_ON; |
| else J17_OFF; |
| /beta/Code Redesign killagreg/main.c |
|---|
| 136,14 → 136,20 |
| if(UBat < 130) // less than 13.0 V must be a 3S Lipo |
| { |
| LowVoltageWarning = 3 * ParamSet.LowVoltageWarning; |
| Beep(3, 200); |
| if(print) printf(" 3 Cells "); |
| if(print) |
| { |
| Beep(3, 200); |
| printf(" 3 Cells "); |
| } |
| } |
| else // <= 13.0V |
| { |
| LowVoltageWarning = 4 * ParamSet.LowVoltageWarning; |
| Beep(4, 200); |
| if(print) printf(" 4 Cells "); |
| if(print) |
| { |
| Beep(4, 200); |
| printf(" 4 Cells "); |
| } |
| } |
| } |
| else // classic settings |
| /beta/Code Redesign killagreg/makefile |
|---|
| 5,7 → 5,7 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 75 |
| VERSION_PATCH = 3 |
| VERSION_PATCH = 4 |
| VERSION_SERIAL_MAJOR = 10 # Serial Protocol Major Version |
| VERSION_SERIAL_MINOR = 1 # Serial Protocol Minor Version |
| /beta/Code Redesign killagreg/version.txt |
|---|
| 284,11 → 284,14 |
| 0.75d H.Buss 13.8.2009 |
| - RC-Routine: Empfangsausfall soll sicherer erkannt werden |
| - Zellenerkennung nun auch beim Speichern der Settings |
| Anpassungen bzgl. V0.75c |
| G.Stobrawa 14.7.2009: |
| 0.75e H.Buss 18.8.2009 |
| - LED-Blinken kann an die Motoren gekoppelt werden |
| - Feinabstimmung des Höhenreglers |
| Anpassungen bzgl. V0.75e |
| G.Stobrawa 18.8.2009: |
| - Code stärker modularisiert und restrukturiert |
| - viele Kommentare zur Erklärug eingefügt |
| - konsequent englische Variablennamen |