| 158,7 → 158,7 |
|---|
| unsigned char Parameter_ExternalControl; |
| unsigned char Parameter_GlobalConfig; |
| unsigned char Parameter_ExtraConfig; |
| unsigned char Parameter_MaximumAltitude = 40; |
| unsigned char Parameter_MaximumAltitude; |
| unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| unsigned char CareFree = 0; |
| 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 |
| 215,6 → 215,7 |
|---|
| void Piep(unsigned char Anzahl, unsigned int dauer) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| GRN_OFF; |
| while(Anzahl--) |
| { |
| beeptime = dauer; |
| 221,6 → 222,7 |
|---|
| while(beeptime); |
| Delay_ms(dauer * 2); |
| } |
| GRN_ON; |
| } |
| |
| //############################################################################ |
| 651,8 → 653,6 |
|---|
| CareFree = 0; |
| } |
| if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
| // Limit the maximum Altitude |
| if(Parameter_MaximumAltitude) if(SollHoehe/100 > Parameter_MaximumAltitude) SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
| } |
| |
| //############################################################################ |
| 737,7 → 737,6 |
|---|
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| 779,7 → 778,6 |
|---|
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| 1466,9 → 1464,15 |
|---|
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| } |
| FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
| // Limit the maximum Altitude |
| if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
| else |
| { |
| // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
| // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| VarioCharacter = '+'; |
| } |
| WaypointTrimming = 0; |
| } // gas stick is below hoover point |
| else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| 1538,9 → 1542,10 |
|---|
| else SollHoehe += WaypointTrimming; |
| } |
| else |
| |
| if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
| else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
| { |
| if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
| else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
| } |
| HeightTrimming = 0; |
| LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |