| 590,11 → 590,10 |
|---|
| } |
| if(MotorTest_Active) MotorTest_Active--; |
| } |
| |
| DebugOut.Analog[12] = Motor[0].SetPoint; // Front |
| DebugOut.Analog[13] = Motor[1].SetPoint; // Rear |
| DebugOut.Analog[14] = Motor[3].SetPoint; // Left |
| DebugOut.Analog[15] = Motor[2].SetPoint; // Right |
| DebugOut.Analog[14] = Motor[2].SetPoint; // Left |
| DebugOut.Analog[15] = Motor[3].SetPoint; // Right |
| //Start I2C Interrupt Mode |
| I2C_Start(TWI_STATE_MOTOR_TX); |
| } |
| 895,55 → 894,60 |
|---|
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < -85) |
| { |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
| if(!(FCFlags&FCFLAG_MOTOR_RUN)) // motors are not running |
| { |
| // gas/yaw joystick is bottom right |
| // _________ |
| // | | |
| // | | |
| // | | |
| // | | |
| // | x| |
| // ¯¯¯¯¯¯¯¯¯ |
| // Start Motors |
| if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
| { |
| delay_startmotors = 200; // do not repeat if once executed |
| ModelIsFlying = 1; |
| FCFlags |= (FCFLAG_MOTOR_RUN|FCFLAG_START); // set flag RUN and START |
| SetPointYaw = 0; |
| ReadingIntegralGyroYaw = 0; |
| ReadingIntegralGyroNick = ParamSet.GyroAccFactor * (int32_t)AccNick; |
| ReadingIntegralGyroRoll = ParamSet.GyroAccFactor * (int32_t)AccRoll; |
| ReadingIntegralGyroNick2 = IntegralGyroNick; |
| ReadingIntegralGyroRoll2 = IntegralGyroRoll; |
| IPartNick = 0; |
| IPartRoll = 0; |
| // gas/yaw joystick is bottom right |
| // _________ |
| // | | |
| // | | |
| // | | |
| // | | |
| // | x| |
| // ¯¯¯¯¯¯¯¯¯ |
| // Start Motors |
| if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_startmotors = 0; |
| ModelIsFlying = 1; |
| FCFlags |= (FCFLAG_MOTOR_RUN|FCFLAG_START); // set flag RUN and START |
| SetPointYaw = 0; |
| ReadingIntegralGyroYaw = 0; |
| ReadingIntegralGyroNick = ParamSet.GyroAccFactor * (int32_t)AccNick; |
| ReadingIntegralGyroRoll = ParamSet.GyroAccFactor * (int32_t)AccRoll; |
| ReadingIntegralGyroNick2 = IntegralGyroNick; |
| ReadingIntegralGyroRoll2 = IntegralGyroRoll; |
| IPartNick = 0; |
| IPartRoll = 0; |
| } |
| } |
| else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
| } |
| else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
| |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
| else // motors are running |
| { |
| // gas/yaw joystick is bottom left |
| // _________ |
| // | | |
| // | | |
| // | | |
| // | | |
| // |x | |
| // ¯¯¯¯¯¯¯¯¯ |
| // Stop Motors |
| if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
| { |
| delay_stopmotors = 200; // do not repeat if once executed |
| ModelIsFlying = 0; |
| FCFlags &= ~(FCFLAG_MOTOR_RUN); |
| // gas/yaw joystick is bottom left |
| // _________ |
| // | | |
| // | | |
| // | | |
| // | | |
| // |x | |
| // ¯¯¯¯¯¯¯¯¯ |
| // Stop Motors |
| if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_stopmotors = 0; |
| ModelIsFlying = 0; |
| FCFlags &= ~(FCFLAG_MOTOR_RUN); |
| } |
| } |
| else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
| } |
| else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
| } |
| // remapping of paameters only if the signal rc-sigbnal conditions are good |
| // remapping of parameters only if the signal rc-signal conditions are good |
| } // eof RC_Quality > 150 |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |