WebSVN - FlightCtrl - Path Comparison - / Rev 2007 and / Rev 2008

Ignore whitespace Rev 2007 → Rev 2008

 /trunk/analog.c
 ,7 → 13,6
 volatile int  HiResNick = 2500, HiResRoll = 2500;
 volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
 volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
-volatile char messanzahl_AccHoch = 0;
 volatile long Luftdruck = 32000;
 volatile long SummenHoehe = 0;
 volatile int  StartLuftdruck;
 ,9 → 23,8
 volatile unsigned int ZaehlMessungen = 0;
 unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
 volatile unsigned char AdReady = 1;
-float NeutralAccZ_float;
 //#######################################################################################
-//
 void ADC_Init(void)
 //#######################################################################################
 {
 ,7 → 205,7
                  if(subcount < -100) { NeutralAccZ--; subcount += 100;}
                 }
              }
-            messanzahl_AccHoch = 1;
+//            messanzahl_AccHoch = 1;
             Aktuell_az = ADC;
             Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
             Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen

/trunk/eeprom.c
135,8 → 135,10
EE_Parameter.WinkelUmschlagRoll = 85;
}
EE_Parameter.GyroAccAbgleich = 32; // 1/k
EE_Parameter.BitConfig = 0; // Looping usw.
EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV \| CFG_KOMPASS_AKTIV \| CFG_GPS_AKTIV \| CFG_HOEHEN_SCHALTER;
EE_Parameter.ExtraConfig = CFG_GPS_AID \| CFG2_VARIO_BEEP;
EE_Parameter.GlobalConfig3 = 0;
EE_Parameter.Receiver = RECEIVER_JETI;
EE_Parameter.MotorSafetySwitch = 0;
EE_Parameter.ExternalControl = 0;
190,7 → 192,6
EE_Parameter.LoopGasLimit = 50;
EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag
EE_Parameter.LoopHysterese = 50;
EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt

EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2
EE_Parameter.NaviGpsGain = 100;
219,6 → 220,7
EE_Parameter.MaxAltitude = 150; // 0 = off
EE_Parameter.AchsKopplung1 = 90;
EE_Parameter.AchsKopplung2 = 55;
EE_Parameter.FailsafeChannel = 0;
}
/*
void ParamSet_DefaultSet1(void) // sport
469,7 → 471,7
Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64;
Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64;
memcpy(Mixer.Name, "Quadro\0", 7);
Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1);
}

/***************************************************/

 /trunk/eeprom.h
 ,7 → 4,7
 #include <inttypes.h>
 #include "twimaster.h"
-#define EEPARAM_REVISION        88 // is count up, if paramater stucture has changed (compatibility)
+#define EEPARAM_REVISION        89 // is count up, if paramater stucture has changed (compatibility)
 #define EEMIXER_REVISION         1 // is count up, if mixer stucture has changed (compatibility)
 #define EEPROM_ADR_PARAM_BEGIN          0
 ,6 → 40,11
 extern MixerTable_t Mixer;
 extern uint8_t RequiredMotors;
+//GlobalConfig3
+#define CFG3_NO_SDCARD_NO_START  0x01
+#define CFG3_DPH_MAX_RADIUS      0x02
+#define CFG3_VARIO_FAILSAFE      0x04
 //GlobalConfig
 #define CFG_HOEHENREGELUNG       0x01
 #define CFG_HOEHEN_SCHALTER      0x02
 ,10 → 223,12
     unsigned char ComingHomeAltitude;
     unsigned char FailSafeTime;
     unsigned char MaxAltitude;
+        unsigned char FailsafeChannel;         // if the value of this channel is > 100, the MK reports "RC-Lost"
         //------------------------------------------------
         unsigned char BitConfig;          // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt
         unsigned char ServoCompInvert;    // //  0x01 = Nick, 0x02 = Roll   0 oder 1  // WICHTIG!!! am Ende lassen
         unsigned char ExtraConfig;        // bitcodiert
+        unsigned char GlobalConfig3;      // bitcodiert
         char Name[12];
         unsigned char crc;                                // must be the last byte!
 } paramset_t;

 /trunk/fc.c
 ,9 → 693,13
           FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY);
          }
         ROT_ON;
-        if(modell_fliegt > 1000)  // wahrscheinlich in der Luft --> langsam absenken
+        if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100)  // wahrscheinlich in der Luft --> langsam absenken
             {
             GasMischanteil = EE_Parameter.NotGas;
+                        if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)
+                         {
+                          if(HoverGas && HoverGas < 150 * STICK_GAIN)   GasMischanteil = HoverGas/(STICK_GAIN + STICK_GAIN/4); // 80% of Hovergas
+                         }
             FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING;
             PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
             PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
 ,6 → 1821,8
                         else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil;
                         else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
+//if(Parameter_UserParam7 < 128)
+ {
                         if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2;      // MotorSmoothing
 //                      else tmp_int = 2 * tmp_int - tmp_motorwert[i];                       // original MotorSmoothing
             else
 ,6 → 1838,7
                                   tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth);
                                 }
                         }
+ }
                         LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4);
                         Motor[i].SetPoint = tmp_int / 4;

 /trunk/hottmenu.c
 ,7 → 61,9
  "GPS Fix lost    \0",  // 21
  "Magnet Error    \0",  // 22
  "Motor restart   \0",  // 23
- "BL Limitation   \0"   // 24
+ "BL Limitation   \0",  // 24
+ "GPS Range       \0",  // 25
+ "No SD-Card      \0"   // 26
 };
 unsigned char MaxBlTempertaure = 0;
 ,6 → 99,7
 {
   if(FC_StatusFlags & FC_STATUS_LOWBAT) return(VOICE_MINIMALE_EINGANSSPANNUNG);
   if(MotorenEin && NC_ErrorCode)                return(VOICE_BEEP);
+//if(Parameter_UserParam1) return(Parameter_UserParam1);
   return(0);
 }

 /trunk/hottmenu.h
 ,7 → 3,7
 #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
-#define MAX_ERR_NUMBER (24+1)
+#define MAX_ERR_NUMBER (26+1)
 extern const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17];
 extern unsigned char HottKeyboard,HoTT_RequestedSensor;

/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.h
3,6 → 3,7

//#define DEBUG // use to activate debug output to MK-Tool: use Debug(text);
//#define ACT_S3D_SUMMENSIGNAL
//#define UserParameter8_FAILSAFE
//#define RECEIVER_SPEKTRUM_DX7EXP
//#define RECEIVER_SPEKTRUM_DX8EXP

 /trunk/rc.c
 ,8 → 20,7
 unsigned int PPM_Neutral = 466;
 //############################################################################
-//zum decodieren des PPM-Signals wird Timer1 mit seiner Input
-//Capture Funktion benutzt:
+// Clear the values
 void rc_sum_init (void)
 //############################################################################
 {
 ,7 → 38,7
 #ifndef ACT_S3D_SUMMENSIGNAL
 //############################################################################
-//Diese Routine startet und inizialisiert den Timer für RC
+// Interrupt function for the PPM-Input
 ISR(TIMER1_CAPT_vect)
 //############################################################################
 {
 ,7 → 65,10
                 {
                 signal -= PPM_Neutral;
                 // Stabiles Signal
-                if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
+                                  if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100)  // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe
+                                  {
+                    if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;}
+                                  }
                 tmp = (3 * (PPM_in[index]) + signal) / 4;
                 if(tmp > signal+1) tmp--; else
                 if(tmp < signal-1) tmp++;
 ,10 → 137,13
                 // Stabiles Signal
                 if((abs(signal - ppm_in[index]) < 6))
                                  {
-                                  if(okay_cnt > 25)  SenderOkay += 10;
-                                  else
-                                  if(okay_cnt > 10)  SenderOkay += 2;
-                                  if(SenderOkay > 200) SenderOkay = 200;
+                                  if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100)  // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe
+                                  {
+                                   if(okay_cnt > 25)  SenderOkay += 10;
+                                   else
+                                   if(okay_cnt > 10)  SenderOkay += 2;
+                                   if(SenderOkay > 200) SenderOkay = 200;
+                                  }
                                  }
                 tmp = (3 * (ppm_in[index]) + signal) / 4;
                 if(tmp > signal+1) tmp--; else
 ,7 → 180,7
 #else
 //############################################################################
-//Diese Routine startet und inizialisiert den Timer für RC
+// Interrupt function for the PPM-Input
 ISR(TIMER1_CAPT_vect)
 //############################################################################

 /trunk/rc.h
 ,11 → 5,6
 #ifndef _RC_H
 #define _RC_H
-#if defined (__AVR_ATmega32__)
-#define TIMER_TEILER        CK64
-#define TIMER_RELOAD_VALUE  250
-#endif
 #if defined (__AVR_ATmega644__)
 #define TIMER_RELOAD_VALUE  250
 #endif

 /trunk/spi.c
 ,8 → 10,8
 struct str_SPI_VersionInfo NC_Version;
 struct str_GPSInfo GPSInfo;
-unsigned char              SPI_BufferIndex;
-unsigned char              SPI_RxBufferIndex;
+unsigned char SPI_BufferIndex;
+unsigned char SPI_RxBufferIndex;
 signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0;
 volatile unsigned char     SPI_Buffer[sizeof(FromNaviCtrl)];
 ,6 → 270,7
                         ToNaviCtrl.Param.Byte[8] = VersionInfo.HardwareError[3];
                         ToNaviCtrl.Param.Byte[9] = VersionInfo.HardwareError[4];
                         ToNaviCtrl.Param.Byte[10] = EE_Parameter.OrientationAngle;
+                        ToNaviCtrl.Param.Byte[11] = EE_Parameter.GlobalConfig3;
                 break;
             case SPI_FCCMD_SERVOS:
                 ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh;     // Parameters for the Servo Control

 /trunk/uart.c
 ,20 → 31,6
 #define MASK_SET_DEFAULT_PARAMS         0x40
 #define MASK_SET_SAVE_EEPROM            0x80
-typedef struct
-{
-        unsigned char Revision;                 // revision of parameter structure
-        unsigned char Address;                  // target address
-        unsigned char PwmScaling;               // maximum value of pwm setpoint
-        unsigned char CurrentLimit;             // current limit in 1A steps
-        unsigned char TemperatureLimit; // in °C
-        unsigned char CurrentScaling;   // scaling factor for current measurement
-        unsigned char BitConfig;                // see defines above
-        unsigned char SetMask;                  // filter for active paramters
-        unsigned char Checksum;                 // checksum for parameter sturcture
-}  __attribute__((packed)) BLParameter_t;
 unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0;
 unsigned char DisplayLine = 0;
 unsigned volatile char SioTmp = 0;

 /trunk/uart.h
 ,7 → 19,7
 extern int Debug_Timer,Kompass_Timer;
 extern void UART_Init (void);
 extern void  uart_putchar (char c);
-extern void boot_program_page (uint32_t page, uint8_t *buf);
+//extern void boot_program_page (uint32_t page, uint8_t *buf);
 extern void DatenUebertragung(void);
 extern void Uart1Init(void);
 extern void BearbeiteRxDaten(void);

 /trunk/version.txt
 ,7 → 523,12
 .86d H.Buss 26.09.2011
  - Analog.c: Vario Überlauf anders verhinden
  - Poti1-6 auch im HoTT-Display
+.87a
+- Failsafe-Kanal
+- Failsafe: x Sekunden warten & y Sekunden nur Höhe ändern
+- Option: Failsafe-Sinkflug 80% Schwebegas
+- Stopp der Motoren wenn bei Failsafe ein Motor blockiert
+- 60 Sekunden Failsafe-Zeit

Subversion Repositories FlightCtrl

Compare Revisions

Ignore whitespace Rev 2007 → Rev 2008