Subversion Repositories FlightCtrl

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Ignore whitespace Rev 1242 → Rev 1243

/trunk/fc.c
91,6 → 91,7
int DiffNick,DiffRoll;
int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
volatile unsigned char SenderOkay = 0;
volatile unsigned char SenderRSSI = 0;
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
char MotorenEin = 0;
int HoehenWert = 0;
991,8 → 992,8
DebugOut.Analog[30] = LageKorrekturRoll * 10;
*/
 
#define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2)
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
#define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2)
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16
#define BEWEGUNGS_LIMIT 20000
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
1286,7 → 1287,7
beeptime = 300;
delay = 250;
}
else
else
if((MessLuftdruck < 100) && OCR0A > 1)
{
if(OCR0A > 10)
/trunk/fc.h
5,7 → 5,7
#ifndef _FC_H
#define _FC_H
//#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel
//#define GIER_GRAD_FAKTOR 1160L
//#define GIER_GRAD_FAKTOR 1160L
extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel
#define STICK_GAIN 4
 
60,8 → 60,9
extern volatile unsigned char Timeout ;
extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
extern int DiffNick,DiffRoll;
extern int Poti1, Poti2, Poti3, Poti4;
extern int Poti1, Poti2, Poti3, Poti4;
extern volatile unsigned char SenderOkay;
extern volatile unsigned char SenderRSSI;
extern unsigned char RequiredMotors;
extern int StickNick,StickRoll,StickGier;
extern char MotorenEin;
70,7 → 71,7
extern void DefaultKonstanten3(void);
extern void DefaultStickMapping(void);
 
#define STRUCT_PARAM_LAENGE sizeof(EE_Parameter)
#define STRUCT_PARAM_LAENGE sizeof(EE_Parameter)
struct mk_param_struct
{
unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
120,7 → 121,7
unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt
unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt
unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung)
unsigned char Driftkomp;
unsigned char Driftkomp;
unsigned char DynamicStability;
unsigned char UserParam5; // Wert : 0-250
unsigned char UserParam6; // Wert : 0-250
133,19 → 134,19
unsigned char J17Timing; // for the J17 Output
//---NaviCtrl---------------------------------------------
unsigned char NaviGpsModeControl; // Parameters for the Naviboard
unsigned char NaviGpsGain;
unsigned char NaviGpsP;
unsigned char NaviGpsI;
unsigned char NaviGpsD;
unsigned char NaviGpsPLimit;
unsigned char NaviGpsILimit;
unsigned char NaviGpsDLimit;
unsigned char NaviGpsACC;
unsigned char NaviGpsMinSat;
unsigned char NaviStickThreshold;
unsigned char NaviWindCorrection;
unsigned char NaviSpeedCompensation;
unsigned char NaviOperatingRadius;
unsigned char NaviGpsGain;
unsigned char NaviGpsP;
unsigned char NaviGpsI;
unsigned char NaviGpsD;
unsigned char NaviGpsPLimit;
unsigned char NaviGpsILimit;
unsigned char NaviGpsDLimit;
unsigned char NaviGpsACC;
unsigned char NaviGpsMinSat;
unsigned char NaviStickThreshold;
unsigned char NaviWindCorrection;
unsigned char NaviSpeedCompensation;
unsigned char NaviOperatingRadius;
unsigned char NaviAngleLimitation;
unsigned char NaviPH_LoginTime;
//---Ext.Ctrl---------------------------------------------
155,7 → 156,7
unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen
unsigned char Reserved[4];
char Name[12];
};
};
 
struct
{
163,7 → 164,7
char Name[12];
signed char Motor[16][4];
} Mixer;
 
extern struct mk_param_struct EE_Parameter;
extern unsigned char Parameter_Luftdruck_D;
extern unsigned char Parameter_MaxHoehe;
182,7 → 183,7
extern unsigned char Parameter_J16Timing; // for the J16 Output
extern unsigned char Parameter_J17Bitmask; // for the J17 Output
extern unsigned char Parameter_J17Timing; // for the J17 Output
extern signed char MixerTable[MAX_MOTORS][4];
extern signed char MixerTable[MAX_MOTORS][4];
extern unsigned char Motor[MAX_MOTORS];
#endif //_FC_H
 
/trunk/spi.c
217,6 → 217,7
ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3;
ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4;
ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay;
ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderRSSI;
break;
 
case SPI_CMD_MISC: