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Ignore whitespace Rev 1738 → Rev 1747

/branches/V0.80g_ACC-HH_MartinR/Hex-Files/Flight-Ctrl_MEGA644_V0_80g_SVN1738_ACC-HH_MartinR.hex
0,0 → 1,3960
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/branches/V0.80g_ACC-HH_MartinR/fc.c
1334,7 → 1334,8
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Kompass
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
if((KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) && !(Parameter_UserParam1 > 50)) // MartinR: bei HH über Schalter wird der Kompass abgeschaltet
//if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) // MartinR: so war es
{
int w,v,r,fehler,korrektur;
w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
1394,18 → 1395,18
{
MesswertNick = (long) ((long)MesswertNick * GyroFaktor) / (256L / STICK_GAIN) ; // MartinR : hinzugefügt
MesswertRoll = (long) ((long)MesswertRoll * GyroFaktor) / (256L / STICK_GAIN) ; // MartinR : hinzugefügt
MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN);
Mess_Integral_Gier = 0; // MartinR: im HH-Modus alle unbenutzten Integratoren = 0
Integral_Gier = 0; // MartinR: im HH-Modus alle unbenutzten Integratoren = 0
//MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN);
//Mess_Integral_Gier = 0; // MartinR: im HH-Modus alle unbenutzten Integratoren = 0 //neu: nur Kompass wird bei HH deaktiviert
//Integral_Gier = 0; // MartinR: im HH-Modus alle unbenutzten Integratoren = 0
}
else // MartinR: ACC-Mode so war es
{
MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
//MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
}
//MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); // MartinR so war es
MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
 
// Maximalwerte abfangen
// #define MAX_SENSOR (4096*STICK_GAIN)
/branches/V0.80g_ACC-HH_MartinR/version.txt
447,7 → 447,8
 
- HH-Mode wurde reduziert auf die Regler-Grundfunktionen!
keine Driftkompensation, Stickfunktion nur mit P-Regler, keine GPS- oder Kompass Funktion.
keine Driftkompensation, keine GPS- Funktion.
- bei HH über UserParameter1 wird der Kompass abgeschaltet. Bei "normalem HH" kann der Kompass verwendet werden
- Zu beachten: die anwählbare Drehratenbegrenzung wird derzeit im HH-Modus nicht abgeschaltet
- Begrenzung von SummeNick SummeRoll reduziert, da Überlauf beobachtet wurde
- Die Progression von MesswetNick MesswertRoll, wenn der Gyro an die Grenzen kommt wurde Hardwareabhängig geändert (Sprung bei V1.0 war für HH zu groß)