| 68,8 → 68,8 |
|---|
| |
| unsigned short CurrentOffset = 0;/// |
| |
| unsigned char Motors[8]; |
| unsigned char Motorsmax[8]; |
| unsigned char Motors[12]; //MartinR: Fehlersuche (war 8) |
| unsigned char Motorsmax[12]; //MartinR: Fehlersuche (war 8) |
| unsigned short MotorsTmax; |
| unsigned char updatemotors=2; |
| |
| 259,6 → 259,9 |
|---|
| DebugOut.Analog[24] = SollHoehe/5; |
| // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
| // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| DebugOut.Analog[25] = FC_StatusFlags;// MartinR: Test |
| DebugOut.Analog[26] = FC_StatusFlags2;// MartinR: Test |
| |
| DebugOut.Analog[27] = KompassSollWert; |
| DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
| DebugOut.Analog[30] = GPS_Nick; |
| 1069,7 → 1072,7 |
|---|
| StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
| |
| GyroFaktor = (Parameter_Gyro_P + 10.0); |
| // IntegralFaktor = Parameter_Gyro_I; // MartinR: verschoben um Code zu sparen |
| // IntegralFaktor = Parameter_Gyro_I; // MartinR: war mal hier |
| GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| IntegralFaktorGier = Parameter_Gyro_Gier_I; |
| |
| 1112,6 → 1115,8 |
|---|
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #ifdef WITH_ACC_Loop // MartinR: deaktivieren um Code zu sparen |
| |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| else |
| { |
| 1147,15 → 1152,18 |
|---|
| |
| if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| #endif |
| } // Ende neue Funken-Werte |
| |
| #ifdef WITH_ACC_Loop // MartinR: deaktiviert um Code zu sparen |
| if(Looping_Roll || Looping_Nick) |
| { |
| if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| TrichterFlug = 1; |
| } |
| #else |
| #warning : "### without ACC-Loop ###" |
| #endif |
| |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1230,7 → 1238,7 |
|---|
| } |
| |
| if((EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) || (Parameter_UserParam1 > 49)) IntegralFaktor = 0; // MartinR geändert und verschoben |
| else IntegralFaktor = Parameter_Gyro_I; // MartinR: verschoben um Code zu sparen |
| else IntegralFaktor = Parameter_Gyro_I; // MartinR: geändert |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |