| 65,8 → 65,8 |
|---|
| unsigned char IamMaster = 0; |
| unsigned char Delete_Stoppflag_Timer = 0; |
| unsigned char OEM_String[17] = "Booting... \0\0\0\0\0"; |
| unsigned char TouchDownTimer = 0; |
| |
| |
| void PrintLine(void) |
| { |
| printf("\r\n==================================="); |
| 712,6 → 712,9 |
|---|
| // Sekundentakt |
| if(++second == 49) |
| { |
| static long altitudeOld = 0; |
| static char threeseconds = 3; |
| |
| second = 0; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(ShowSettingNameTime) ShowSettingNameTime--; |
| 720,6 → 723,50 |
|---|
| if(ShowCmpsCalibrateTime) ShowCmpsCalibrateTime--; |
| if(Delete_Stoppflag_Timer) Delete_Stoppflag_Timer--; else FC_StatusFlags3 &= ~FC_STATUS3_MOTORS_STOPPED_BY_RC; |
| #endif |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + for auto switch - off |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(--threeseconds == 0) |
| { |
| int AltitudeDeviationPer3Seconds = 0; |
| threeseconds = 3; |
| AltitudeDeviationPer3Seconds = HoehenWert - altitudeOld; |
| altitudeOld = HoehenWert; |
| if(abs(AltitudeDeviationPer3Seconds) > 90) TouchDownTimer = 0; |
| if(!MotorenEin) TouchDownTimer = 0; |
| } |
| if(ACC_AltitudeControl && HoehenReglerAktiv && (SollHoehe < (HoehenWert-1100)) && !(VersionInfo.HardwareError[0] & FC_ERROR0_PRESSURE)) // 11m unter Sollwert |
| { |
| if(TouchDownTimer < 255) TouchDownTimer++; |
| } |
| else TouchDownTimer = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if( (NC_To_FC_Flags & NC_TO_FC_SWITCHOFF_IF_LANDED) || // for auto landing waypoints points |
| (NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) || // for RC failsafe |
| (LowVoltageLandingActive) || // undervoltage |
| (FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) // Auto landing by switch |
| ) |
| { |
| if(TouchDownTimer == 6) SpeakHoTT = SPEAK_SINKING; |
| else |
| if(TouchDownTimer == 9) |
| { |
| SpeakHoTT = SPEAK_LANDING; |
| } |
| else |
| if(TouchDownTimer == 16) |
| { |
| FC_StatusFlags3 |= FC_STATUS3_MOTORS_STOPPED_BY_RC; // that informs the slave to disarm the Motors |
| Delete_Stoppflag_Timer = 2; // 1-2 seconds |
| MotorenEin = 0; |
| modell_fliegt = 0; |
| FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
| SpeakHoTT = SPEAK_MK_OFF; |
| } |
| } |
| else TouchDownTimer = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| if(SerialChannelDataOkay) if(--SerialChannelDataOkay == 0) InitSerialPoti(); |
| if(NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) ServoFailsafeActive = SERVO_FS_TIME; |
| else |