WebSVN - FlightCtrl - Path Comparison - / Rev 1689 and / Rev 1690

Ignore whitespace Rev 1689 → Rev 1690

 /trunk/eeprom.c
 ,9 → 164,9
         EE_Parameter.Gyro_Gier_P = 80;        // Wert : 0-247
         EE_Parameter.Gyro_Gier_I = 150;       // Wert : 0-247
         EE_Parameter.Gyro_Stability = 6;          // Wert : 1-8
-        EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
-        EE_Parameter.NotGas = 35;                // Wert : 0-247     // Gaswert bei Empangsverlust
-        EE_Parameter.NotGasZeit = 60;            // Wert : 0-247     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
+        EE_Parameter.UnterspannungsWarnung = 34; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
+        EE_Parameter.NotGas = 45;                // Wert : 0-247     // Gaswert bei Empangsverlust
+        EE_Parameter.NotGasZeit = 90;            // Wert : 0-247     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
         EE_Parameter.I_Faktor = 32;
         EE_Parameter.UserParam1 =   0;           // zur freien Verwendung
         EE_Parameter.UserParam2 =   0;           // zur freien Verwendung
 ,7 → 273,7
         EE_Parameter.Gyro_Gier_P = 90;           // Wert : 0-247
         EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
         EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
-        EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
+        EE_Parameter.UnterspannungsWarnung = 34; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
         EE_Parameter.NotGas = 35;                // Wert : 0-247     // Gaswert bei Empangsverlust
         EE_Parameter.NotGasZeit = 60;            // Wert : 0-247     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
         EE_Parameter.I_Faktor = 32;
 ,7 → 381,7
         EE_Parameter.Gyro_Gier_P = 100;          // Wert : 0-247
         EE_Parameter.Gyro_Gier_I = 120;          // Wert : 0-247
         EE_Parameter.Gyro_Stability = 6;                  // Wert : 1-8
-        EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
+        EE_Parameter.UnterspannungsWarnung = 34; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50)
         EE_Parameter.NotGas = 35;                // Wert : 0-247     // Gaswert bei Empangsverlust
         EE_Parameter.NotGasZeit = 60;            // Wert : 0-247     // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen
         EE_Parameter.I_Faktor = 16;
 ,7 → 414,7
         EE_Parameter.AchsKopplung2 = 80;
         EE_Parameter.CouplingYawCorrection = 70;
         EE_Parameter.GyroAccAbgleich = 32;        // 1/k
-        EE_Parameter.DynamicStability = 50;
+        EE_Parameter.DynamicStability = 70;
         EE_Parameter.J16Bitmask = 95;
         EE_Parameter.J17Bitmask = 243;
         EE_Parameter.WARN_J16_Bitmask = 0xAA;

 /trunk/fc.c
 ,7 → 593,7
  MIN_GAS = EE_Parameter.Gas_Min;
  tmp = EE_Parameter.OrientationModeControl;
- if(tmp > 50 && NaviDataOkay > 200)
+ if(tmp > 50)
    {
 #ifdef SWITCH_LEARNS_CAREFREE
     if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2;
 ,6 → 603,12
    }
    else CareFree = 0;
+ if(CareFree && FromNaviCtrl.CompassValue == -2 && BeepMuster == 0xffff)
+        {
+         beeptime = 15000;
+         BeepMuster = 0xA400;
+         CareFree = 0;
+    }
  if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;}
 }
 ,10 → 1634,6
     if(SummeNick >  (STICK_GAIN * 16000L)) SummeNick =  (STICK_GAIN * 16000L);
     if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN);
-DebugOut.Analog[16] = MesswertNick;
-DebugOut.Analog[17] = DiffNick;
 if(Parameter_UserParam5 > 50)
         pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick
 else
 ,10 → 1653,10
     if(SummeRoll >  (STICK_GAIN * 16000L)) SummeRoll =  (STICK_GAIN * 16000L);
     if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
-if(Parameter_UserParam5 > 50)
+//if(Parameter_UserParam5 > 50)
     pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8 + SummeRoll / Ki;   // PI-Regler für Roll
-else
-    pd_ergebnis_roll = DiffRoll + SummeRoll / Ki;       // PI-Regler für Roll
+//else
+//    pd_ergebnis_roll = DiffRoll + SummeRoll / Ki;     // PI-Regler für Roll
     tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
     if(pd_ergebnis_roll >  tmp_int) pd_ergebnis_roll =  tmp_int;
 ,9 → 1685,12
                         else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil;
                         else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
+//if(Parameter_UserParam4 < 50)
+ {
                         if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2;      // MotorSmoothing
                         else tmp_int = 2 * tmp_int - tmp_motorwert[i];                                                              // MotorSmoothing
+ }
 /*
 if(Parameter_UserParam5 > 50)
  {

/trunk/fc.h
51,6 → 51,7
extern int ErsatzKompassInGrad; // Kompasswert in Grad
extern long HoehenWert;
extern long SollHoehe;
extern unsigned char CareFree;
extern int MesswertNick,MesswertRoll,MesswertGier;
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch;
extern unsigned int NeutralAccX, NeutralAccY;

 /trunk/jetimenu.c
 ,22 → 41,17
 {                       //0123456789ABCDEF
 //      JetiBox_printfxy(0,0,"Nick Roll  Yaw");
 //      JetiBox_printfxy(0,1,"%4i %4i %4i", (int16_t)(IntegralNick/1024), (int16_t)(IntegralRoll/1024), (int16_t)(ErsatzKompass / GIER_GRAD_FAKTOR));
-if(RequiredMotors <= 4)
- {
-  JetiBox_printfxy(0,0,"Temperatures");
-  JetiBox_printfxy(0,1,"%3i %3i %3i %3i", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature);
- }
-else
-if(RequiredMotors <= 6)
- {
   JetiBox_printfxy(0,0,"%3i %3i %3i %3i", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature);
-  JetiBox_printfxy(0,1,"%3i %3i C      ", Motor[4].Temperature, Motor[5].Temperature);
- }
-else
- {
-  JetiBox_printfxy(0,0,"%3i %3i %3i %3i", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature);
   JetiBox_printfxy(0,1,"%3i %3i %3i %3i", Motor[4].Temperature, Motor[5].Temperature, Motor[6].Temperature, Motor[7].Temperature);
- }
+  if(RequiredMotors <= 4)
+        {
+         JetiBox_printfxy(0,1,"Temperatures    ");
+    }
+        else
+    if(RequiredMotors <= 6)
+        {
+         JetiBox_printfxy(8,1,"\%cC     ",0xdf);
+        }
 }
 void Menu_Battery(uint8_t key)
 ,27 → 65,24
 {
         if(NaviDataOkay)
         {
-                JetiBox_printfxy(0,0,"Sat:%02d", GPSInfo.NumOfSats);
+                JetiBox_printfxy(0,0,"%2um/s Sat:%d ",GPSInfo.Speed,GPSInfo.NumOfSats);
                 switch (GPSInfo.SatFix)
                 {
-                        case SATFIX_NONE:
-                                JetiBox_printfxy(7,0,"NoFix");
+                        case SATFIX_3D:
+                                JetiBox_printfxy(12,0,"  3D");
                                 break;
                         case SATFIX_2D:
-                                JetiBox_printfxy(7,0,"2DFix");
-                                break;
-                        case SATFIX_3D:
-                                JetiBox_printfxy(7,0,"3DFix");
-                                break;
+                        case SATFIX_NONE:
                         default:
-                                JetiBox_printfxy(7,0,"??Fix");
+                                JetiBox_printfxy(12,0,"NoFx");
                                 break;
                 }
                 if(GPSInfo.Flags & FLAG_DIFFSOLN)
                 {
-                        JetiBox_printfxy(9,0,"/DGPS");
+                        JetiBox_printfxy(12,0,"DGPS");
                 }
-                JetiBox_printfxy(0,1,"Home:%03dm %03d%c", GPSInfo.HomeDistance/10, GPSInfo.HomeBearing, 0xDF);
+                JetiBox_printfxy(0,1,"Home:%3dm %3d%c", GPSInfo.HomeDistance/10, GPSInfo.HomeBearing, 0xDF);
         }
         else
         {                     //0123456789ABCDEF

/trunk/libfc1284.a
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream

/trunk/libfc644.a
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream

/trunk/main.c
329,6 → 329,7
GPS_Roll = 0;
//if(!beeptime)
FCFlags \|= FCFLAG_SPI_RX_ERR;
FromNaviCtrl.CompassValue = -2;
}
if(UBat < BattLowVoltageWarning)
{

 /trunk/makefile
 ,7 → 6,7
 #-------------------------------------------------------------------
 VERSION_MAJOR    =   0
 VERSION_MINOR    =  79
-VERSION_PATCH    =   12
+VERSION_PATCH    =   13
 VERSION_SERIAL_MAJOR = 11       # Serial Protocol
 VERSION_SERIAL_MINOR = 0        # Serial Protocol
 NC_SPI_COMPATIBLE = 13          # Navi-Kompatibilität

 /trunk/spi.c
 ,7 → 19,7
 unsigned char *SPI_TX_Buffer;
 unsigned char SPITransferCompleted, SPI_ChkSum;
-unsigned char SPI_RxDataValid,NaviDataOkay = 0;
+unsigned char SPI_RxDataValid,NaviDataOkay = 250;
 unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU};
 unsigned char SPI_CommandCounter = 0;
 ,7 → 271,8
     GPS_Nick = FromNaviCtrl.GPS_Nick;
     GPS_Roll = FromNaviCtrl.GPS_Roll;
    }
-    if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
+        if(FromNaviCtrl.CompassValue <= 360)   KompassValue = FromNaviCtrl.CompassValue;
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
     if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime;
 ,6 → 301,7
                         GPSInfo.Flags = FromNaviCtrl.Param.Byte[0];
                         GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1];
                         GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2];
+                        GPSInfo.Speed = FromNaviCtrl.Param.Byte[3];
                         GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2];
                         GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3];
                         break;

/trunk/spi.h
150,6 → 150,7
unsigned char Flags; // Status Flags
unsigned char NumOfSats; // number of satelites
unsigned char SatFix; // type of satfix
unsigned char Speed; // m/sek
unsigned int HomeDistance; // distance to Home in dm
int HomeBearing; // bearing to home in deg
};

 /trunk/version.txt
 ,4 → 414,18
 .79M H.Buss
  - AccZ wurde zu langsam nachgeführt
- - JetiMenü: bis acht Temperaturen
+ - JetiMenü: bis acht Temperaturen der BL-Regler
+.79N H.Buss
+ - Notgas = 45
+ - NotgasZeit = 90
+ - Beginnersetting: EE_Parameter.DynamicStability = 70;
+ - EE_Parameter.UnterspannungsWarnung = 34
+ - GyroStability = 6
+ - MotorSmooth() an
+ - GPSInfo.Speed im JEti-Display
+ - Beepen, wenn Carefree ohne Navi
+ - Beepen, NC ausfällt

Subversion Repositories FlightCtrl

Compare Revisions

Ignore whitespace Rev 1689 → Rev 1690