/beta/Code Redesign killagreg/eeprom.c |
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110,7 → 110,7 |
ParamSet.ChannelAssignment[CH_POTI4] = 8; |
ParamSet.Config0 = CFG0_AXIS_COUPLING_ACTIVE | CFG0_COMPASS_ACTIVE | CFG0_GPS_ACTIVE;//CFG0_HEIGHT_CONTROL | CFG0_HEIGHT_SWITCH | CFG0_COMPASS_FIX; |
ParamSet.Config1 = 0; |
ParamSet.Config2 = CFG2_HEIGHT_LIMIT|CFG2_SENSITIVE_RC; |
ParamSet.Config2 = CFG2_HEIGHT_LIMIT;//|CFG2_SENSITIVE_RC; |
ParamSet.HeightMinGas = 30; |
ParamSet.MaxHeight = 251; |
ParamSet.HeightP = 10; |
215,7 → 215,7 |
ParamSet.ChannelAssignment[CH_POTI4] = 8; |
ParamSet.Config0 = CFG0_AXIS_COUPLING_ACTIVE | CFG0_COMPASS_ACTIVE | CFG0_GPS_ACTIVE;//CFG0_HEIGHT_CONTROL | CFG0_HEIGHT_SWITCH | CFG0_COMPASS_FIX; |
ParamSet.Config1 = 0; |
ParamSet.Config2 = CFG2_HEIGHT_LIMIT|CFG2_SENSITIVE_RC; |
ParamSet.Config2 = CFG2_HEIGHT_LIMIT;//|CFG2_SENSITIVE_RC; |
ParamSet.HeightMinGas = 30; |
ParamSet.MaxHeight = 251; |
ParamSet.HeightP = 10; |
320,7 → 320,7 |
ParamSet.ChannelAssignment[CH_POTI4] = 8; |
ParamSet.Config0 = CFG0_ROTARY_RATE_LIMITER | CFG0_AXIS_COUPLING_ACTIVE | CFG0_COMPASS_ACTIVE | CFG0_GPS_ACTIVE;//CFG0_HEIGHT_CONTROL | CFG0_HEIGHT_SWITCH | CFG0_COMPASS_FIX; |
ParamSet.Config1 = 0; |
ParamSet.Config2 = CFG2_HEIGHT_LIMIT|CFG2_SENSITIVE_RC; |
ParamSet.Config2 = CFG2_HEIGHT_LIMIT;//|CFG2_SENSITIVE_RC; |
ParamSet.HeightMinGas = 30; |
ParamSet.MaxHeight = 251; |
ParamSet.HeightP = 10; |
/beta/Code Redesign killagreg/fc.c |
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1662,7 → 1662,7 |
{ |
// from this point the Heigth Control Algorithm is identical for both versions |
// ------------------------- P-Part ---------------------------- |
HeightDeviation = (int16_t)(ReadingHeight - SetPointHeight); // positive when to high |
HeightDeviation = (int16_t)(ReadingHeight - SetPointHeight); // positive when too high |
tmp_int = (HeightDeviation * (int16_t)FCParam.HeightP) / 16; // p-part |
HCGas -= tmp_int; |
// ------------------------- D-Part 1: Vario Meter ---------------------------- |
/beta/Code Redesign killagreg/fc.h |
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100,7 → 100,7 |
extern int32_t YawGyroHeading; |
extern int16_t YawGyroHeadingInDeg; |
// hight control |
// height control |
extern int32_t SetPointHeight; |
// accelerations |
/beta/Code Redesign killagreg/makefile |
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5,11 → 5,11 |
#------------------------------------------------------------------- |
VERSION_MAJOR = 0 |
VERSION_MINOR = 75 |
VERSION_PATCH = 10 |
VERSION_PATCH = 11 |
VERSION_SERIAL_MAJOR = 10 # Serial Protocol Major Version |
VERSION_SERIAL_MINOR = 1 # Serial Protocol Minor Version |
NC_SPI_COMPATIBLE = 9 # SPI Protocol Version |
NC_SPI_COMPATIBLE = 10 # SPI Protocol Version |
#------------------------------------------------------------------- |
#OPTIONS |
/beta/Code Redesign killagreg/spi.c |
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261,6 → 261,7 |
ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
ToNaviCtrl.Param.Byte[9] = (uint8_t) RC_RSSI; |
ToNaviCtrl.Param.Byte[10] = DebugOut.Analog[7] / 4; // gasmixfraction |
break; |
case SPI_CMD_MISC: |
271,9 → 272,10 |
} |
ToNaviCtrl.Param.Byte[1] = ParamSet.NaviPHLoginTime; |
ToNaviCtrl.Param.Int[1] = (int16_t)(ReadingHeight/5); // at address of Byte 2 and 3 |
ToNaviCtrl.Param.Byte[4] = ParamSet.NaviGpsPLimit; |
ToNaviCtrl.Param.Byte[5] = ParamSet.NaviGpsILimit; |
ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsDLimit; |
ToNaviCtrl.Param.Int[2] = (int16_t)(SetPointHeight/5);// at address of Byte 4 and 5 |
ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsPLimit; |
ToNaviCtrl.Param.Byte[7] = ParamSet.NaviGpsILimit; |
ToNaviCtrl.Param.Byte[8] = ParamSet.NaviGpsDLimit; |
break; |
case SPI_CMD_VERSION: |
/beta/Code Redesign killagreg/version.txt |
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313,9 → 313,11 |
- zweite Variante (Gregor) der Höhenregelung implementiert |
- umschaltbare RC-Routine |
0.75l H.Buss 23.09.2009 |
- SollHoehe und Gas geht nun auch an die NC |
Anpassungen bzgl. V0.75k |
G.Stobrawa 22.9.2009: |
Anpassungen bzgl. V0.75l |
G.Stobrawa 23.9.2009: |
- Code stärker modularisiert und restrukturiert |
- viele Kommentare zur Erklärug eingefügt |