| 7,21 → 7,14 |
|---|
| |
| uint16_t emergencyFlightTime; |
| |
| void setFailsafeFlightParameters(void) { |
| flight_setParameters(0, 90, 120, 90, 120); |
| void FC_setNeutral(void) { |
| configuration_setNormalFlightParameters(); |
| } |
| |
| void setNormalFlightParameters(void) { |
| flight_setParameters(staticParams.IFactor, dynamicParams.gyroP, |
| staticParams.bitConfig & CFG_HEADING_HOLD ? 0 : dynamicParams.gyroI, |
| dynamicParams.gyroP, staticParams.yawIFactor); |
| } |
| void FC_periodicTaskAndPRTY(uint16_t* PRTY) { |
| |
| void FC_setNeutral(void) { |
| setNormalFlightParameters(); |
| } |
| debugOut.analog[25] = emergencyFlightTime; |
| |
| void FC_periodicTaskAndPRTY(uint16_t* PRTY) { |
| if (controlMixer_getSignalQuality() <= SIGNAL_BAD) { // the rc-frame signal is not reveived or noisy |
| if (controlMixer_didReceiveSignal) |
| beepRCAlarm(); // Only make alarm if a control signal was received before the signal loss. |
| 30,12 → 23,12 |
|---|
| if (!(MKFlags & MKFLAG_EMERGENCY_FLIGHT)) { |
| if (isFlying > 256) { |
| MKFlags |= MKFLAG_EMERGENCY_FLIGHT; // Set flag for emergency landing |
| setFailsafeFlightParameters(); |
| configuration_setFailsafeFlightParameters(); |
| // Set the time in whole seconds. |
| if (staticParams.emergencyFlightDuration > (65535 - F_MAINLOOP) / F_MAINLOOP) |
| if (staticParams.emergencyFlightDuration > (65535 - (uint16_t)F_MAINLOOP) / (uint16_t)F_MAINLOOP) |
| emergencyFlightTime = 0xffff; |
| else |
| emergencyFlightTime = (uint16_t) staticParams.emergencyFlightDuration * F_MAINLOOP; |
| emergencyFlightTime = (uint16_t)staticParams.emergencyFlightDuration * (uint16_t)F_MAINLOOP; |
| } |
| } else { |
| if (emergencyFlightTime) { |
| 53,7 → 46,7 |
|---|
| // Signal is OK. |
| if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
| MKFlags &= ~MKFLAG_EMERGENCY_FLIGHT; // Clear flag for emergency landing |
| setNormalFlightParameters(); |
| configuration_setNormalFlightParameters(); |
| } |
| } |
| |