168,15 → 168,15 |
LastAltitude = CurrentAltitude; |
} |
AirPressureCnt++; |
|
|
//if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
{ |
Roll_X_Offset = 0.9995F * Roll_X_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_X))); |
Roll_Y_Offset = 0.9995F * Roll_Y_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_Y))); |
Roll_X_Offset = 0.9995F * Roll_X_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_X))); |
Roll_Y_Offset = 0.9995F * Roll_Y_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_Y))); |
|
if (abs(StickGier) < 15 || MotorenEin == 0) |
{ |
Roll_Z_Offset = 0.9998F * Roll_Z_Offset + 0.0002F * (float) ( MAX(-60, MIN(60,AverageRoll_Z))); |
Roll_Z_Offset = 0.9998F * Roll_Z_Offset + 0.0002F * (float) ( MAX(-60, MIN(60,AverageRoll_Z))); |
} |
} |
|
419,7 → 419,6 |
int motorwert = 0; |
int pd_ergebnis; |
|
|
/***************************************************************************** |
Update noimial attitude |
**************************************************************************** */ |
474,6 → 473,7 |
|
//DebugOut.Analog[13] = (int) GasMischanteil; |
|
#ifdef X_FORMATION |
/* Overide in case the remote link got lost */ |
if (RemoteLinkLost == 0) |
{ /* We are flying in X-Formation */ |
486,6 → 486,21 |
StickNick45 = (int) (0.707F * (float)(-GPS_Roll) + 0.707F * (float)(-GPS_Nick)); |
StickGier = 0; |
} |
#else |
/* Overide in case the remote link got lost */ |
if (RemoteLinkLost == 0) |
{ /* We are flying in X-Formation */ |
StickRoll45 = StickRoll - GPS_Roll; |
StickNick45 = StickNick - GPS_Nick; |
} |
else |
{ /* GPS overide is aktive */ |
StickRoll45 = -GPS_Roll; |
StickNick45 = -GPS_Nick; |
StickGier = 0; |
} |
#endif |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Yaw |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |