| /beta/Code Redesign killagreg/dsl.c |
|---|
| 89,6 → 89,7 |
| #include <stdlib.h> |
| #include "dsl.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| uint8_t dsl_RSSI = 0; |
| uint8_t dsl_Battery = 0; |
| 167,6 → 168,16 |
| dsl_Battery = PacketBuffer[4]; // Get voltage of battery supply |
| // ?? = PacketBuffer[5]; |
| RC_RSSI = dsl_RSSI; |
| PPM_in[0] = RC_RSSI; |
| if(RC_RSSI == 0) |
| { // set to neutral attitude commands |
| PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
| PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
| PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
| PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
| PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
| PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
| } |
| } |
| else // probably a channel pair |
| { |
| /beta/Code Redesign killagreg/fc.c |
|---|
| 1588,6 → 1588,7 |
| static uint8_t HeightTrimmingFlag = 0x00; |
| HooverGas = (int16_t)(HooverGasEstimation/HOOVER_GAS_AVERAGE); |
| #define HEIGHT_CONTROL_STICKTHRESHOLD 15 * STICK_GAIN |
| if(MKFlags & MKFLAG_FLY) // trim setpoint only when flying |
| 1639,7 → 1640,7 |
| // and the hover height will be allways larger than height setpoint. |
| if((ReadingHeight > SetPointHeight) && HeightControlActive && !(MKFlags & MKFLAG_EMERGENCY_LANDING)) |
| { |
| HeightControlGas = GasMixFraction; // take stick gas |
| HeightControlGas = GasMixFraction; // take stick gas, |
| #endif // from this point the Heigth Control is identical |
| HeightControlGas -= ((int16_t)(ReadingHeight - SetPointHeight) * (int16_t)FCParam.HeightP) / 16; // p-part |
| // quadratic scaling to ReadingVario in the D-Part |
| 1676,7 → 1677,7 |
| if((MKFlags & MKFLAG_FLY) && !(MKFlags & MKFLAG_EMERGENCY_LANDING)) |
| { |
| if(HooverGasEstimation == 0) HooverGasEstimation = HOOVER_GAS_AVERAGE * (uint32_t)GasMixFraction; // init estimation |
| if(abs(ReadingVario) < 400) |
| if(abs(ReadingVario) < 150) |
| { |
| tmp_long3 = (int32_t)GasMixFraction; // take current thrust |
| tmp_long3 *= CosNick; // apply nick projection |
| 1688,6 → 1689,7 |
| HooverGasEstimation += tmp_long3; |
| } |
| } |
| DebugOut.Analog[25] = (int16_t)(HooverGasEstimation/HOOVER_GAS_AVERAGE); |
| }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
| // limit gas to parameter setting |
| /beta/Code Redesign killagreg/main.c |
|---|
| 127,6 → 127,7 |
| void LipoDetection(uint8_t print) |
| { |
| #define MIN_VOLTAGE_WARNING 93 // minimum low voltage warning to protect LiPO |
| uint16_t timer; |
| if(print) printf("\n\rBatt:"); |
| if(ParamSet.LowVoltageWarning < 50) // below 5.0 V the value is interpreted as single cell low volatage warning |
| 156,6 → 157,7 |
| { |
| LowVoltageWarning = ParamSet.LowVoltageWarning; |
| } |
| if(LowVoltageWarning < MIN_VOLTAGE_WARNING) LowVoltageWarning = MIN_VOLTAGE_WARNING; |
| if(print) printf("Low Warning level: %d.%dV", LowVoltageWarning/10, LowVoltageWarning%10); |
| } |
| /beta/Code Redesign killagreg/makefile |
|---|
| 5,7 → 5,7 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 75 |
| VERSION_PATCH = 5 |
| VERSION_PATCH = 7 |
| VERSION_SERIAL_MAJOR = 10 # Serial Protocol Major Version |
| VERSION_SERIAL_MINOR = 1 # Serial Protocol Minor Version |
| /beta/Code Redesign killagreg/menu.c |
|---|
| 220,9 → 220,10 |
| LCD_printfxy(0,3,"Height %4i (%3i)",AdValueAccTop, (int16_t)AdBiasAccTop); |
| break; |
| case 7:// Accumulator Voltage / Remote Control Level |
| LCD_printfxy(0,1,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
| LCD_printfxy(0,3,"Channels: %4i", RC_Channels); |
| LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| LCD_printfxy(0,1,"RC-Level: %4i", RC_Quality); |
| LCD_printfxy(0,2,"RC-Channels:%4i", RC_Channels); |
| LCD_printfxy(0,3,"RC-RSSI: %4i", RC_RSSI); |
| break; |
| case 8:// Compass Menu Item |
| LCD_printfxy(0,0,"Compass "); |
| /beta/Code Redesign killagreg/rc.c |
|---|
| 185,8 → 185,12 |
| } |
| if(okay_cnt < 255) okay_cnt++; |
| } // eof if(index >= 4 && index == RC_Channels) |
| else if(okay_cnt > 100) okay_cnt = 10; |
| else okay_cnt = 0; |
| else |
| { |
| if(okay_cnt > 100) okay_cnt = 10; |
| else okay_cnt = 0; |
| RED_ON; |
| } |
| // store max channels transmitted |
| if(!(MKFlags & MKFLAG_MOTOR_RUN)) RC_Channels = index; |
| // reset channel index |
| 245,8 → 249,6 |
| } |
| } // eof (index >= MAX_CHANNELS) |
| } // eof within the PPM frame |
| DebugOut.Analog[16] = okay_cnt; |
| DebugOut.Analog[17] = PPM_in[2]; |
| } |
| /beta/Code Redesign killagreg/uart0.c |
|---|
| 145,17 → 145,17 |
| "Motor Right ", //15 |
| " ", |
| " ", |
| "Vario ", |
| "CompassCalState ", |
| "VarioMeter ", |
| "MK3MAG CalState ", |
| "NickServo ", //20 |
| "RollServo ", |
| "AirPress ", |
| "RCFrameOKCount ", |
| " ", |
| " ", //25 |
| " ", |
| " ", |
| "Hoovergas ", //25 |
| "MaxHoover ", |
| "Kalman Max Drift", |
| " ", |
| "MinHoover ", |
| "Navi Serial Data", |
| "GPS Nick ", //30 |
| "GPS Roll " |
| /beta/Code Redesign killagreg/version.txt |
|---|
| 294,9 → 294,15 |
| - Lagewinkel wirkt jetzt mit 1/Cos(x) mit in den Höhenregler |
| - leichte Modifikation der RC-Empfangroutine |
| Anpassungen bzgl. V0.75f |
| G.Stobrawa 27.8.2009: |
| 0.75g H.Buss 31.08.2009 |
| - die Akkuspannung geht jetzt antiproportional ins Gas ein |
| 0.75h H.Buss 3.09.2009 |
| - im Höhenregler werden jetzt die Stellwerte begrenzt --> max +- 16% vom geschätzten Schwebegas |
| Anpassungen bzgl. V0.75h |
| G.Stobrawa 3.9.2009: |
| - Code stärker modularisiert und restrukturiert |
| - viele Kommentare zur Erklärug eingefügt |
| - konsequent englische Variablennamen |