1491,17 → 1491,6 |
LIMIT_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// all BL-Ctrl connected? |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(MissingMotor) |
{ |
// if we are in the lift off condition |
if( (ModelIsFlying > 1) && (ModelIsFlying < 50) && (StickGas > 0) ) |
ModelIsFlying = 1; // keep within lift off condition |
StickGas = ParamSet.GasMin; // reduce gas to min to avoid lift of |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Height Control |
// The height control algorithm reduces the gas but does not increase the gas. |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1774,6 → 1763,16 |
// limit gas to parameter setting |
LIMIT_MIN_MAX(GasMixFraction, (ParamSet.GasMin + 10) * STICK_GAIN, (ParamSet.GasMax - 20) * STICK_GAIN); |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// all BL-Ctrl connected? |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(MissingMotor) |
{ |
// if we are in the lift off condition |
if( (ModelIsFlying > 1) && (ModelIsFlying < 50) && (GasMixFraction > 0) ) |
ModelIsFlying = 1; // keep within lift off condition |
GasMixFraction = ParamSet.GasMin * STICK_GAIN; // reduce gas to min to avoid lift of |
} |
|
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Mixer and PI-Controller |