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/*#######################################################################################
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/*#######################################################################################
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Flight Control
 2 
Flight Control
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#######################################################################################*/
 3 
#######################################################################################*/
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 4 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5 
// + Copyright (c) 04.2007 Holger Buss
 5 
// + Copyright (c) 04.2007 Holger Buss
6 
// + Nur für den privaten Gebrauch
 6 
// + Nur für den privaten Gebrauch
7 
// + www.MikroKopter.com
 7 
// + www.MikroKopter.com
8 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 8 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
9 
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
 9 
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
10 
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
 10 
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
11 
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
 11 
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
12 
// + bzgl. der Nutzungsbedingungen aufzunehmen.
 12 
// + bzgl. der Nutzungsbedingungen aufzunehmen.
13 
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
 13 
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
14 
// + Verkauf von Luftbildaufnahmen, usw.
 14 
// + Verkauf von Luftbildaufnahmen, usw.
15 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 15 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
16 
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
 16 
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
17 
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
 17 
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
18 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 18 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19 
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
 19 
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
20 
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
 20 
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
21 
// + eindeutig als Ursprung verlinkt werden
 21 
// + eindeutig als Ursprung verlinkt werden
22 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 22 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
23 
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
 23 
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
24 
// + Benutzung auf eigene Gefahr
 24 
// + Benutzung auf eigene Gefahr
25 
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
 25 
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
26 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 26 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
27 
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
 27 
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
28 
// + mit unserer Zustimmung zulässig
 28 
// + mit unserer Zustimmung zulässig
29 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 29 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30 
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
 30 
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 31 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
32 
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
 32 
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
33 
// + this list of conditions and the following disclaimer.
 33 
// + this list of conditions and the following disclaimer.
34 
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
 34 
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
35 
// +     from this software without specific prior written permission.
 35 
// +     from this software without specific prior written permission.
36 
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
 36 
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
37 
// +     for non-commercial use (directly or indirectly)
 37 
// +     for non-commercial use (directly or indirectly)
38 
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
 38 
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
39 
// +     with our written permission
 39 
// +     with our written permission
40 
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
 40 
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
 41 
// +     clearly linked as origin
42 
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
 42 
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
43 
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 43 
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
44 
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 44 
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
45 
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 45 
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
46 
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 46 
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
47 
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 47 
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
48 
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 48 
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
49 
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 49 
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
50 
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 50 
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
51 
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 51 
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
52 
// +  POSSIBILITY OF SUCH DAMAGE.
 52 
// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 53 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
54 
#include <stdlib.h>
 54 
#include <stdlib.h>
55 
#include <avr/io.h>
 55 
#include <avr/io.h>
56 
 
 56 
 
57 
#include "main.h"
 57 
#include "main.h"
58 
#include "eeprom.h"
 58 
#include "eeprom.h"
59 
#include "timer0.h"
 59 
#include "timer0.h"
60 
#include "_Settings.h"
 60 
#include "_Settings.h"
61 
#include "analog.h"
 61 
#include "analog.h"
62 
#include "fc.h"
 62 
#include "fc.h"
63 
#include "gps.h"
 63 
#include "gps.h"
64 
#include "uart.h"
 64 
#include "uart.h"
65 
#include "rc.h"
 65 
#include "rc.h"
66 
#include "twimaster.h"
 66 
#include "twimaster.h"
67 
#ifdef USE_MM3
 67 
#ifdef USE_MM3
68 
#include "mm3.h"
 68 
#include "mm3.h"
69 
#endif
 69 
#endif
70 
#ifdef USE_CMPS03
 70 
#ifdef USE_CMPS03
71 
#include "cmps03.h"
 71 
#include "cmps03.h"
72 
#endif
 72 
#endif
73 
#include "led.h"
 73 
#include "led.h"
74 
 
 74 
 
75 
volatile uint16_t I2CTimeout = 100;
 75 
volatile uint16_t I2CTimeout = 100;
76 
// gyro readings
 76 
// gyro readings
77 
volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;
 77 
volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;
78 
// gyro neutral readings
 78 
// gyro neutral readings
79 
volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0;
 79 
volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0;
80 
volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0;
 80 
volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0;
81 
// mean accelerations
 81 
// mean accelerations
82 
volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;
 82 
volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;
83 
 
 83 
 
84 
// neutral acceleration readings
 84 
// neutral acceleration readings
85 
volatile int16_t NeutralAccX=0, NeutralAccY=0;
 85 
volatile int16_t NeutralAccX=0, NeutralAccY=0;
86 
volatile float NeutralAccZ = 0;
 86 
volatile float NeutralAccZ = 0;
87 
 
 87 
 
88 
// attitude gyro integrals
 88 
// attitude gyro integrals
89 
volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0;
 89 
volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0;
90 
volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0;
 90 
volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0;
91 
volatile int32_t IntegralYaw = 0;
 91 
volatile int32_t IntegralYaw = 0;
92 
volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0;
 92 
volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0;
93 
volatile int32_t Reading_IntegralGyroRoll = 0,  Reading_IntegralGyroRoll2 = 0;
 93 
volatile int32_t Reading_IntegralGyroRoll = 0,  Reading_IntegralGyroRoll2 = 0;
94 
volatile int32_t Reading_IntegralGyroYaw = 0,   Reading_IntegralGyroYaw2 = 0;
 94 
volatile int32_t Reading_IntegralGyroYaw = 0,   Reading_IntegralGyroYaw2 = 0;
95 
volatile int32_t MeanIntegralPitch;
 95 
volatile int32_t MeanIntegralPitch;
96 
volatile int32_t MeanIntegralRoll;
 96 
volatile int32_t MeanIntegralRoll;
97 
 
 97 
 
98 
// attitude acceleration integrals
 98 
// attitude acceleration integrals
99 
volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0;
 99 
volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0;
100 
volatile int32_t Reading_Integral_Top = 0;
 100 
volatile int32_t Reading_Integral_Top = 0;
101 
 
 101 
 
102 
// compass course
 102 
// compass course
103 
volatile int16_t CompassHeading = -1; // negative angle indicates invalid data.
 103 
volatile int16_t CompassHeading = -1; // negative angle indicates invalid data.
104 
volatile int16_t CompassCourse = -1;
 104 
volatile int16_t CompassCourse = -1;
105 
volatile int16_t CompassOffCourse = 0;
 105 
volatile int16_t CompassOffCourse = 0;
106 
 
 106 
 
107 
// flags
 107 
// flags
108 
uint8_t MotorsOn = 0;
 108 
uint8_t MotorsOn = 0;
109 
uint8_t EmergencyLanding = 0;
 109 
uint8_t EmergencyLanding = 0;
110 
 
 110 
 
111 
int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L;
 111 
int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L;
112 
 
 112 
 
113 
float Gyro_P_Factor;
 113 
float Gyro_P_Factor;
114 
float Gyro_I_Factor;
 114 
float Gyro_I_Factor;
115 
 
 115 
 
116 
volatile int16_t  DiffPitch, DiffRoll;
 116 
volatile int16_t  DiffPitch, DiffRoll;
117 
 
 117 
 
118 
int16_t  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
 118 
int16_t  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
119 
 
 119 
 
120 
// setpoints for motors
 120 
// setpoints for motors
121 
volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left;
 121 
volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left;
122 
 
 122 
 
123 
// stick values derived by rc channels readings
 123 
// stick values derived by rc channels readings
124 
int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0;
 124 
int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0;
125 
int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0;
 125 
int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0;
126 
// stick values derived by uart inputs
 126 
// stick values derived by uart inputs
127 
int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20;
 127 
int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20;
128 
 
 128 
 
129 
 
 129 
 
130 
 
 130 
 
131 
 
 131 
 
132 
int16_t ReadingHeight = 0;
 132 
int16_t ReadingHeight = 0;
133 
int16_t SetPointHeight = 0;
 133 
int16_t SetPointHeight = 0;
134 
 
 134 
 
135 
int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0;
 135 
int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0;
136 
 
 136 
 
137 
float Ki =  FACTOR_I;
 137 
float Ki =  FACTOR_I;
138 
 
 138 
 
139 
uint8_t Looping_Pitch = 0, Looping_Roll = 0;
 139 
uint8_t Looping_Pitch = 0, Looping_Roll = 0;
140 
uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;
 140 
uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;
141 
 
 141 
 
142 
 
 142 
 
143 
fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100};
 143 
fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100};
144 
 
 144 
 
145 
 
 145 
 
146 
/************************************************************************/
 146 
/************************************************************************/
147 
/*  Creates numbeeps beeps at the speaker                               */
 147 
/*  Creates numbeeps beeps at the speaker                               */
148 
/************************************************************************/
 148 
/************************************************************************/
149 
void Beep(uint8_t numbeeps)
 149 
void Beep(uint8_t numbeeps)
150 
{
 150 
{
151 
        while(numbeeps--)
 151 
        while(numbeeps--)
152 
        {
 152 
        {
153 
                if(MotorsOn) return; //auf keinen Fall im Flug!
 153 
                if(MotorsOn) return; //auf keinen Fall im Flug!
154 
                BeepTime = 100; // 0.1 second
 154 
                BeepTime = 100; // 0.1 second
155 
                Delay_ms(250); // blocks 250 ms as pause to next beep,
 155 
                Delay_ms(250); // blocks 250 ms as pause to next beep,
156 
                // this will block the flight control loop,
 156 
                // this will block the flight control loop,
157 
                // therefore do not use this funktion if motors are running
 157 
                // therefore do not use this funktion if motors are running
158 
        }
 158 
        }
159 
}
 159 
}
160 
 
 160 
 
161 
/************************************************************************/
 161 
/************************************************************************/
162 
/*  Neutral Readings                                                    */
 162 
/*  Neutral Readings                                                    */
163 
/************************************************************************/
 163 
/************************************************************************/
164 
void SetNeutral(void)
 164 
void SetNeutral(void)
165 
{
 165 
{
166 
        NeutralAccX = 0;
 166 
        NeutralAccX = 0;
167 
        NeutralAccY = 0;
 167 
        NeutralAccY = 0;
168 
        NeutralAccZ = 0;
 168 
        NeutralAccZ = 0;
169 
    AdNeutralPitch = 0;
 169 
    AdNeutralPitch = 0;
170 
        AdNeutralRoll = 0;
 170 
        AdNeutralRoll = 0;
171 
        AdNeutralYaw = 0;
 171 
        AdNeutralYaw = 0;
172 
    FCParam.Yaw_PosFeedback = 0;
 172 
    FCParam.Yaw_PosFeedback = 0;
173 
    FCParam.Yaw_NegFeedback = 0;
 173 
    FCParam.Yaw_NegFeedback = 0;
174 
    CalibMean();
 174 
    CalibMean();
175 
    Delay_ms_Mess(100);
 175 
    Delay_ms_Mess(100);
176 
        CalibMean();
 176 
        CalibMean();
177 
    if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Height Control activated?
 177 
    if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Height Control activated?
178 
    {
 178 
    {
179 
                if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
 179 
                if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
180 
    }
 180 
    }
181 
        AdNeutralPitch = AdValueGyrPitch;
 181 
        AdNeutralPitch = AdValueGyrPitch;
182 
        AdNeutralRoll  = AdValueGyrRoll;
 182 
        AdNeutralRoll  = AdValueGyrRoll;
183 
        AdNeutralYaw   = AdValueGyrYaw;
 183 
        AdNeutralYaw   = AdValueGyrYaw;
184 
        StartNeutralRoll  = AdNeutralRoll;
 184 
        StartNeutralRoll  = AdNeutralRoll;
185 
        StartNeutralPitch = AdNeutralPitch;
 185 
        StartNeutralPitch = AdNeutralPitch;
186 
    if(GetParamWord(PID_ACC_PITCH) > 1023)
 186 
    if(GetParamWord(PID_ACC_PITCH) > 1023)
187 
    {
 187 
    {
188 
                NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY;
 188 
                NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY;
189 
                NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY;
 189 
                NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY;
190 
                NeutralAccZ = Current_AccZ;
 190 
                NeutralAccZ = Current_AccZ;
191 
    }
 191 
    }
192 
    else
 192 
    else
193 
    {
 193 
    {
194 
                NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH);
 194 
                NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH);
195 
            NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
 195 
            NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
196 
            NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z);
 196 
            NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z);
197 
    }
 197 
    }
198 
        Reading_IntegralGyroPitch = 0;
 198 
        Reading_IntegralGyroPitch = 0;
199 
    Reading_IntegralGyroPitch2 = 0;
 199 
    Reading_IntegralGyroPitch2 = 0;
200 
    Reading_IntegralGyroRoll = 0;
 200 
    Reading_IntegralGyroRoll = 0;
201 
    Reading_IntegralGyroRoll2 = 0;
 201 
    Reading_IntegralGyroRoll2 = 0;
202 
    Reading_IntegralGyroYaw = 0;
 202 
    Reading_IntegralGyroYaw = 0;
203 
    Reading_GyroPitch = 0;
 203 
    Reading_GyroPitch = 0;
204 
    Reading_GyroRoll = 0;
 204 
    Reading_GyroRoll = 0;
205 
    Reading_GyroYaw = 0;
 205 
    Reading_GyroYaw = 0;
206 
    StartAirPressure = AirPressure;
 206 
    StartAirPressure = AirPressure;
207 
    HeightD = 0;
 207 
    HeightD = 0;
208 
    Reading_Integral_Top = 0;
 208 
    Reading_Integral_Top = 0;
209 
    CompassCourse = CompassHeading;
 209 
    CompassCourse = CompassHeading;
210 
    BeepTime = 50;
 210 
    BeepTime = 50;
211 
        TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;
 211 
        TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;
212 
        TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;
 212 
        TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;
213 
    ExternHeightValue = 0;
 213 
    ExternHeightValue = 0;
214 
    GPS_Neutral();
 214 
    GPS_Neutral();
215 
}
 215 
}
216 
 
 216 
 
217 
/************************************************************************/
 217 
/************************************************************************/
218 
/*  Averaging Measurement Readings                                      */
 218 
/*  Averaging Measurement Readings                                      */
219 
/************************************************************************/
 219 
/************************************************************************/
220 
void Mean(void)
 220 
void Mean(void)
221 
{
 221 
{
222 
    static int32_t tmpl,tmpl2;
 222 
    static int32_t tmpl,tmpl2;
223 
 
 223 
 
224 
 // Get offset corrected gyro readings (~ to angular velocity)
 224 
 // Get offset corrected gyro readings (~ to angular velocity)
225 
    Reading_GyroYaw   = AdNeutralYaw    - AdValueGyrYaw;
 225 
    Reading_GyroYaw   = AdNeutralYaw    - AdValueGyrYaw;
226 
    Reading_GyroRoll  = AdValueGyrRoll  - AdNeutralRoll;
 226 
    Reading_GyroRoll  = AdValueGyrRoll  - AdNeutralRoll;
227 
    Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch;
 227 
    Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch;
228 
 
 228 
 
229 
        DebugOut.Analog[26] = Reading_GyroPitch;
 229 
        DebugOut.Analog[26] = Reading_GyroPitch;
230 
        DebugOut.Analog[28] = Reading_GyroRoll;
 230 
        DebugOut.Analog[28] = Reading_GyroRoll;
231 
 
 231 
 
232 
// Acceleration Sensor
 232 
// Acceleration Sensor
233 
        // sliding average sensor readings
 233 
        // sliding average sensor readings
234 
        Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L;
 234 
        Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L;
235 
        Mean_AccRoll  = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L;
 235 
        Mean_AccRoll  = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L;
236 
        Mean_AccTop   = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L;
 236 
        Mean_AccTop   = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L;
237 
 
 237 
 
238 
        // sum sensor readings for later averaging
 238 
        // sum sensor readings for later averaging
239 
    IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch;
 239 
    IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch;
240 
    IntegralAccRoll  += ACC_AMPLIFY * AdValueAccRoll;
 240 
    IntegralAccRoll  += ACC_AMPLIFY * AdValueAccRoll;
241 
 
 241 
 
242 
// Yaw
 242 
// Yaw
243 
        // calculate yaw gyro intergral (~ to rotation angle)
 243 
        // calculate yaw gyro intergral (~ to rotation angle)
244 
    Reading_IntegralGyroYaw  += Reading_GyroYaw;
 244 
    Reading_IntegralGyroYaw  += Reading_GyroYaw;
245 
    Reading_IntegralGyroYaw2 += Reading_GyroYaw;
 245 
    Reading_IntegralGyroYaw2 += Reading_GyroYaw;
246 
        // Coupling fraction
 246 
        // Coupling fraction
247 
        if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
 247 
        if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
248 
        {
 248 
        {
249 
                tmpl = Reading_IntegralGyroPitch / 4096L;
 249 
                tmpl = Reading_IntegralGyroPitch / 4096L;
250 
                tmpl *= Reading_GyroYaw;
 250 
                tmpl *= Reading_GyroYaw;
251 
                tmpl *= FCParam.Yaw_PosFeedback;  //125
 251 
                tmpl *= FCParam.Yaw_PosFeedback;  //125
252 
                tmpl /= 2048L;
 252 
                tmpl /= 2048L;
253 
                tmpl2 = Reading_IntegralGyroRoll / 4096L;
 253 
                tmpl2 = Reading_IntegralGyroRoll / 4096L;
254 
                tmpl2 *= Reading_GyroYaw;
 254 
                tmpl2 *= Reading_GyroYaw;
255 
                tmpl2 *= FCParam.Yaw_PosFeedback;
 255 
                tmpl2 *= FCParam.Yaw_PosFeedback;
256 
                tmpl2 /= 2048L;
 256 
                tmpl2 /= 2048L;
257 
        }
 257 
        }
258 
        else  tmpl = tmpl2 = 0;
 258 
        else  tmpl = tmpl2 = 0;
259 
 
 259 
 
260 
// Roll
 260 
// Roll
261 
        Reading_GyroRoll += tmpl;
 261 
        Reading_GyroRoll += tmpl;
262 
        Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109
 262 
        Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109
263 
        Reading_IntegralGyroRoll2 += Reading_GyroRoll;
 263 
        Reading_IntegralGyroRoll2 += Reading_GyroRoll;
264 
        Reading_IntegralGyroRoll +=  Reading_GyroRoll - AttitudeCorrectionRoll;
 264 
        Reading_IntegralGyroRoll +=  Reading_GyroRoll - AttitudeCorrectionRoll;
265 
        if(Reading_IntegralGyroRoll > TurnOver180Roll)
 265 
        if(Reading_IntegralGyroRoll > TurnOver180Roll)
266 
        {
 266 
        {
267 
                Reading_IntegralGyroRoll  = -(TurnOver180Roll - 10000L);
 267 
                Reading_IntegralGyroRoll  = -(TurnOver180Roll - 10000L);
268 
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
 268 
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
269 
        }
 269 
        }
270 
        if(Reading_IntegralGyroRoll < -TurnOver180Roll)
 270 
        if(Reading_IntegralGyroRoll < -TurnOver180Roll)
271 
        {
 271 
        {
272 
                Reading_IntegralGyroRoll =  (TurnOver180Roll - 10000L);
 272 
                Reading_IntegralGyroRoll =  (TurnOver180Roll - 10000L);
273 
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
 273 
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
274 
        }
 274 
        }
275 
        if(AdValueGyrRoll < 15)   Reading_GyroRoll = -1000;
 275 
        if(AdValueGyrRoll < 15)   Reading_GyroRoll = -1000;
276 
        if(AdValueGyrRoll <  7)   Reading_GyroRoll = -2000;
 276 
        if(AdValueGyrRoll <  7)   Reading_GyroRoll = -2000;
277 
        if(BoardRelease == 10)
 277 
        if(BoardRelease == 10)
278 
        {
 278 
        {
279 
                if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000;
 279 
                if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000;
280 
                if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000;
 280 
                if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000;
281 
        }
 281 
        }
282 
        else
 282 
        else
283 
        {
 283 
        {
284 
                if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000;
 284 
                if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000;
285 
                if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000;
 285 
                if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000;
286 
        }
 286 
        }
287 
// Pitch
 287 
// Pitch
288 
        Reading_GyroPitch -= tmpl2;
 288 
        Reading_GyroPitch -= tmpl2;
289 
        Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L;
 289 
        Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L;
290 
        Reading_IntegralGyroPitch2 += Reading_GyroPitch;
 290 
        Reading_IntegralGyroPitch2 += Reading_GyroPitch;
291 
        Reading_IntegralGyroPitch  += Reading_GyroPitch - AttitudeCorrectionPitch;
 291 
        Reading_IntegralGyroPitch  += Reading_GyroPitch - AttitudeCorrectionPitch;
292 
        if(Reading_IntegralGyroPitch > TurnOver180Pitch)
 292 
        if(Reading_IntegralGyroPitch > TurnOver180Pitch)
293 
        {
 293 
        {
294 
         Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L);
 294 
         Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L);
295 
         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
 295 
         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
296 
        }
 296 
        }
297 
        if(Reading_IntegralGyroPitch < -TurnOver180Pitch)
 297 
        if(Reading_IntegralGyroPitch < -TurnOver180Pitch)
298 
        {
 298 
        {
299 
         Reading_IntegralGyroPitch =  (TurnOver180Pitch - 10000L);
 299 
         Reading_IntegralGyroPitch =  (TurnOver180Pitch - 10000L);
300 
         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
 300 
         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
301 
        }
 301 
        }
302 
        if(AdValueGyrPitch < 15)   Reading_GyroPitch = -1000;
 302 
        if(AdValueGyrPitch < 15)   Reading_GyroPitch = -1000;
303 
        if(AdValueGyrPitch <  7)   Reading_GyroPitch = -2000;
 303 
        if(AdValueGyrPitch <  7)   Reading_GyroPitch = -2000;
304 
        if(BoardRelease == 10)
 304 
        if(BoardRelease == 10)
305 
        {
 305 
        {
306 
                if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000;
 306 
                if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000;
307 
                if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000;
 307 
                if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000;
308 
        }
 308 
        }
309 
        else
 309 
        else
310 
        {
 310 
        {
311 
                if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000;
 311 
                if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000;
312 
                if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000;
 312 
                if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000;
313 
        }
 313 
        }
314 
 
 314 
 
315 
// start ADC
 315 
// start ADC
316 
    ADC_Enable();
 316 
    ADC_Enable();
317 
 
 317 
 
318 
    IntegralYaw    = Reading_IntegralGyroYaw;
 318 
    IntegralYaw    = Reading_IntegralGyroYaw;
319 
    IntegralPitch  = Reading_IntegralGyroPitch;
 319 
    IntegralPitch  = Reading_IntegralGyroPitch;
320 
    IntegralRoll   = Reading_IntegralGyroRoll;
 320 
    IntegralRoll   = Reading_IntegralGyroRoll;
321 
    IntegralPitch2 = Reading_IntegralGyroPitch2;
 321 
    IntegralPitch2 = Reading_IntegralGyroPitch2;
322 
    IntegralRoll2  = Reading_IntegralGyroRoll2;
 322 
    IntegralRoll2  = Reading_IntegralGyroRoll2;
323 
 
 323 
 
324 
        if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll)
 324 
        if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll)
325 
        {
 325 
        {
326 
                if(Reading_GyroPitch > 200)       Reading_GyroPitch += 4 * (Reading_GyroPitch - 200);
 326 
                if(Reading_GyroPitch > 200)       Reading_GyroPitch += 4 * (Reading_GyroPitch - 200);
327 
                else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200);
 327 
                else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200);
328 
                if(Reading_GyroRoll > 200)        Reading_GyroRoll  += 4 * (Reading_GyroRoll - 200);
 328 
                if(Reading_GyroRoll > 200)        Reading_GyroRoll  += 4 * (Reading_GyroRoll - 200);
329 
                else if(Reading_GyroRoll < -200)  Reading_GyroRoll  += 4 * (Reading_GyroRoll + 200);
 329 
                else if(Reading_GyroRoll < -200)  Reading_GyroRoll  += 4 * (Reading_GyroRoll + 200);
330 
        }
 330 
        }
331 
        //update poti values by rc-signals
 331 
        //update poti values by rc-signals
332 
    if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
 332 
    if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
333 
    if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
 333 
    if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
334 
    if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
 334 
    if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
335 
    if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
 335 
    if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
336 
        //limit poti values
 336 
        //limit poti values
337 
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
 337 
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
338 
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
 338 
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
339 
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
 339 
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
340 
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
 340 
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
341 
}
 341 
}
342 
 
 342 
 
343 
/************************************************************************/
 343 
/************************************************************************/
344 
/*  Averaging Measurement Readings  for Calibration                     */
 344 
/*  Averaging Measurement Readings  for Calibration                     */
345 
/************************************************************************/
 345 
/************************************************************************/
346 
void CalibMean(void)
 346 
void CalibMean(void)
347 
{
 347 
{
348 
    // stop ADC to avoid changing values during calculation
 348 
    // stop ADC to avoid changing values during calculation
349 
        ADC_Disable();
 349 
        ADC_Disable();
350 
 
 350 
 
351 
        Reading_GyroPitch = AdValueGyrPitch;
 351 
        Reading_GyroPitch = AdValueGyrPitch;
352 
        Reading_GyroRoll  = AdValueGyrRoll;
 352 
        Reading_GyroRoll  = AdValueGyrRoll;
353 
        Reading_GyroYaw   = AdValueGyrYaw;
 353 
        Reading_GyroYaw   = AdValueGyrYaw;
354 
 
 354 
 
355 
        Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch;
 355 
        Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch;
356 
        Mean_AccRoll  = ACC_AMPLIFY * (int32_t)AdValueAccRoll;
 356 
        Mean_AccRoll  = ACC_AMPLIFY * (int32_t)AdValueAccRoll;
357 
        Mean_AccTop   = (int32_t)AdValueAccTop;
 357 
        Mean_AccTop   = (int32_t)AdValueAccTop;
358 
    // start ADC (enables internal trigger so that the ISR in analog.c
 358 
    // start ADC (enables internal trigger so that the ISR in analog.c
359 
    // updates the readings once)
 359 
    // updates the readings once)
360 
    ADC_Enable();
 360 
    ADC_Enable();
361 
    //update poti values by rc-signals
 361 
    //update poti values by rc-signals
362 
    if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
 362 
    if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
363 
    if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
 363 
    if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
364 
    if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
 364 
    if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
365 
    if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
 365 
    if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
366 
 
 366 
 
367 
        //PPM24-Extension
 367 
        //PPM24-Extension
368 
        if(Poti5 < PPM_in[9] + 110)  Poti5++; else if(Poti5 >  PPM_in[9] + 110 && Poti5) Poti5--;
 368 
        if(Poti5 < PPM_in[9] + 110)  Poti5++; else if(Poti5 >  PPM_in[9] + 110 && Poti5) Poti5--;
369 
        if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--;
 369 
        if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--;
370 
        if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--;
 370 
        if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--;
371 
        if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--;
 371 
        if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--;
372 
 
 372 
 
373 
        //limit poti values
 373 
        //limit poti values
374 
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
 374 
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
375 
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
 375 
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
376 
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
 376 
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
377 
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
 377 
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
378 
    //PPM24-Extension
 378 
    //PPM24-Extension
379 
        if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255;
 379 
        if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255;
380 
        if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255;
 380 
        if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255;
381 
        if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255;
 381 
        if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255;
382 
    if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255;
 382 
    if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255;
383 
 
 383 
 
384 
        TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;
 384 
        TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;
385 
        TurnOver180Roll =  (int32_t) ParamSet.AngleTurnOverRoll  * 2500L;
 385 
        TurnOver180Roll =  (int32_t) ParamSet.AngleTurnOverRoll  * 2500L;
386 
}
 386 
}
387 
 
 387 
 
388 
/************************************************************************/
 388 
/************************************************************************/
389 
/*  Transmit Motor Data via I2C                                         */
 389 
/*  Transmit Motor Data via I2C                                         */
390 
/************************************************************************/
 390 
/************************************************************************/
391 
void SendMotorData(void)
 391 
void SendMotorData(void)
392 
{
 392 
{
393 
    if(MOTOR_OFF || !MotorsOn)
 393 
    if(MOTOR_OFF || !MotorsOn)
394 
    {
 394 
    {
395 
        Motor_Rear = 0;
 395 
        Motor_Rear = 0;
396 
        Motor_Front = 0;
 396 
        Motor_Front = 0;
397 
        Motor_Right = 0;
 397 
        Motor_Right = 0;
398 
        Motor_Left = 0;
 398 
        Motor_Left = 0;
399 
        if(MotorTest[0]) Motor_Front = MotorTest[0];
 399 
        if(MotorTest[0]) Motor_Front = MotorTest[0];
400 
        if(MotorTest[1]) Motor_Rear  = MotorTest[1];
 400 
        if(MotorTest[1]) Motor_Rear  = MotorTest[1];
401 
        if(MotorTest[2]) Motor_Left  = MotorTest[2];
 401 
        if(MotorTest[2]) Motor_Left  = MotorTest[2];
402 
        if(MotorTest[3]) Motor_Right = MotorTest[3];
 402 
        if(MotorTest[3]) Motor_Right = MotorTest[3];
403 
     }
 403 
     }
404 
 
 404 
 
405 
    //DebugOut.Analog[12] = Motor_Front;
 405 
    //DebugOut.Analog[12] = Motor_Front;
406 
    //DebugOut.Analog[13] = Motor_Rear;
 406 
    //DebugOut.Analog[13] = Motor_Rear;
407 
    //DebugOut.Analog[14] = Motor_Left;
 407 
    //DebugOut.Analog[14] = Motor_Left;
408 
    //DebugOut.Analog[15] = Motor_Right;
 408 
    //DebugOut.Analog[15] = Motor_Right;
409 
 
 409 
 
410 
    //Start I2C Interrupt Mode
 410 
    //Start I2C Interrupt Mode
411 
    twi_state = 0;
 411 
    twi_state = 0;
412 
    motor = 0;
 412 
    motor = 0;
413 
    I2C_Start();
 413 
    I2C_Start();
414 
}
 414 
}
415 
 
 415 
 
416 
 
 416 
 
417 
 
 417 
 
418 
/************************************************************************/
 418 
/************************************************************************/
419 
/*  Maps the parameter to poti values                                   */
 419 
/*  Maps the parameter to poti values                                   */
420 
/************************************************************************/
 420 
/************************************************************************/
421 
void ParameterMapping(void)
 421 
void ParameterMapping(void)
422 
{
 422 
{
423 
        if(SenderOkay > 140) // do the mapping of RC-Potis only if the rc-signal is ok
 423 
        if(SenderOkay > 140) // do the mapping of RC-Potis only if the rc-signal is ok
424 
        // else the last updated values are used
 424 
        // else the last updated values are used
425 
        {
 425 
        {
426 
                #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
 426 
                #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
427 
                CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255);
 427 
                CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255);
428 
                CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100);
 428 
                CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100);
429 
                CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100);
 429 
                CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100);
430 
                CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255);
 430 
                CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255);
431 
                CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255);
 431 
                CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255);
432 
                CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255);
 432 
                CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255);
433 
                CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255);
 433 
                CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255);
434 
                CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255);
 434 
                CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255);
435 
                CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255);
 435 
                CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255);
436 
                CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255);
 436 
                CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255);
437 
                CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255);
 437 
                CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255);
438 
                CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255);
 438 
                CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255);
439 
                CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255);
 439 
                CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255);
440 
                CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255);
 440 
                CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255);
441 
                CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255);
 441 
                CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255);
442 
                CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255);
 442 
                CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255);
443 
                CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255);
 443 
                CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255);
444 
                CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255);
 444 
                CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255);
445 
                CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255);
 445 
                CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255);
446 
                CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255);
 446 
                CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255);
447 
                CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255);
 447 
                CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255);
448 
                Ki = (float) FCParam.I_Factor * FACTOR_I;
 448 
                Ki = (float) FCParam.I_Factor * FACTOR_I;
449 
        }
 449 
        }
450 
}
 450 
}
451 
 
 451 
 
452 
 
 452 
 
453 
/************************************************************************/
 453 
/************************************************************************/
454 
/*  MotorControl                                                        */
 454 
/*  MotorControl                                                        */
455 
/************************************************************************/
 455 
/************************************************************************/
456 
void MotorControl(void)
 456 
void MotorControl(void)
457 
{
 457 
{
458 
        int16_t MotorValue, pd_result, h, tmp_int;
 458 
        int16_t MotorValue, pd_result, h, tmp_int;
459 
        int16_t YawMixFraction, ThrustMixFraction;
 459 
        int16_t YawMixFraction, ThrustMixFraction;
460 
        static int32_t SumPitch = 0, SumRoll = 0;
 460 
        static int32_t SumPitch = 0, SumRoll = 0;
461 
        static int32_t SetPointYaw = 0;
 461 
        static int32_t SetPointYaw = 0;
462 
        static int32_t IntegralErrorPitch = 0;
 462 
        static int32_t IntegralErrorPitch = 0;
463 
        static int32_t IntegralErrorRoll = 0;
 463 
        static int32_t IntegralErrorRoll = 0;
464 
        static uint16_t RcLostTimer;
 464 
        static uint16_t RcLostTimer;
465 
        static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0;
 465 
        static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0;
466 
        static uint16_t Model_Is_Flying = 0;
 466 
        static uint16_t Model_Is_Flying = 0;
467 
        static uint8_t HeightControlActive = 0;
 467 
        static uint8_t HeightControlActive = 0;
468 
        static int16_t HeightControlThrust = 0;
 468 
        static int16_t HeightControlThrust = 0;
469 
        static int8_t TimerDebugOut = 0;
 469 
        static int8_t TimerDebugOut = 0;
470 
        static int8_t StoreNewCompassCourse = 0;
 470 
        static int8_t StoreNewCompassCourse = 0;
471 
        static int32_t CorrectionPitch, CorrectionRoll;
 471 
        static int32_t CorrectionPitch, CorrectionRoll;
472 
 
 472 
 
473 
        Mean();
 473 
        Mean();
474 
        GRN_ON;
 474 
        GRN_ON;
475 
 
 475 
 
476 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 476 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
477 
// determine thrust value
 477 
// determine thrust value
478 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 478 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
479 
        ThrustMixFraction = StickThrust;
 479 
        ThrustMixFraction = StickThrust;
480 
    if(ThrustMixFraction < 0) ThrustMixFraction = 0;
 480 
    if(ThrustMixFraction < 0) ThrustMixFraction = 0;
481 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 481 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
482 
// RC-signal is bad
 482 
// RC-signal is bad
483 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 483 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
484 
// SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation
 484 
// SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation
485 
// of a channel to previous frame is less than 1% the SenderOkay is incremented by 10.
 485 
// of a channel to previous frame is less than 1% the SenderOkay is incremented by 10.
486 
// Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80
 486 
// Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80
487 
// The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame
 487 
// The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame
488 
// the main loop is running 11 times that decrements the SenderOkay by 11.
 488 
// the main loop is running 11 times that decrements the SenderOkay by 11.
489 
        if(SenderOkay < 100)  // the rc-frame signal is not reveived or noisy
 489 
        if(SenderOkay < 100)  // the rc-frame signal is not reveived or noisy
490 
        {
 490 
        {
491 
                if(!PcAccess) // if also no PC-Access via UART
 491 
                if(!PcAccess) // if also no PC-Access via UART
492 
                {
 492 
                {
493 
                        if(BeepModulation == 0xFFFF)
 493 
                        if(BeepModulation == 0xFFFF)
494 
                        {
 494 
                        {
495 
                         BeepTime = 15000; // 1.5 seconds
 495 
                         BeepTime = 15000; // 1.5 seconds
496 
                         BeepModulation = 0x0C00;
 496 
                         BeepModulation = 0x0C00;
497 
                        }
 497 
                        }
498 
                }
 498 
                }
499 
                if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost
 499 
                if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost
500 
                else // rc lost countdown finished
 500 
                else // rc lost countdown finished
501 
                {
 501 
                {
502 
                  MotorsOn = 0; // stop all motors
 502 
                  MotorsOn = 0; // stop all motors
503 
                  EmergencyLanding = 0; // emergency landing is over
 503 
                  EmergencyLanding = 0; // emergency landing is over
504 
                }
 504 
                }
505 
                ROT_ON; // set red led
 505 
                ROT_ON; // set red led
506 
                if(Model_Is_Flying > 2000)  // wahrscheinlich in der Luft --> langsam absenken
 506 
                if(Model_Is_Flying > 2000)  // wahrscheinlich in der Luft --> langsam absenken
507 
                {
 507 
                {
508 
                        ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust
 508 
                        ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust
509 
                        EmergencyLanding = 1; // enable emergency landing
 509 
                        EmergencyLanding = 1; // enable emergency landing
510 
                        // set neutral rc inputs
 510 
                        // set neutral rc inputs
511 
                        PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
 511 
                        PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
512 
                        PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
 512 
                        PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
513 
                        PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
 513 
                        PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
514 
                        PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
 514 
                        PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
515 
                        PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;
 515 
                        PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;
516 
                }
 516 
                }
517 
                else MotorsOn = 0; // switch of all motors
 517 
                else MotorsOn = 0; // switch of all motors
518 
        } // eof SenderOkay < 100
 518 
        } // eof SenderOkay < 100
519 
        else
 519 
        else
520 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 520 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
521 
// RC-signal is good
 521 
// RC-signal is good
522 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 522 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
523 
        if(SenderOkay > 140)
 523 
        if(SenderOkay > 140)
524 
        {
 524 
        {
525 
                EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay
 525 
                EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay
526 
                // reset emergency timer
 526 
                // reset emergency timer
527 
                RcLostTimer = ParamSet.EmergencyThrustDuration * 50;
 527 
                RcLostTimer = ParamSet.EmergencyThrustDuration * 50;
528 
                if(ThrustMixFraction > 40)
 528 
                if(ThrustMixFraction > 40)
529 
                {
 529 
                {
530 
                        if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++;
 530 
                        if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++;
531 
                }
 531 
                }
532 
                if((Model_Is_Flying < 200) || (ThrustMixFraction < 40))
 532 
                if((Model_Is_Flying < 200) || (ThrustMixFraction < 40))
533 
                {
 533 
                {
534 
                        SumPitch = 0;
 534 
                        SumPitch = 0;
535 
                        SumRoll = 0;
 535 
                        SumRoll = 0;
536 
                        Reading_IntegralGyroYaw = 0;
 536 
                        Reading_IntegralGyroYaw = 0;
537 
                        Reading_IntegralGyroYaw2 = 0;
 537 
                        Reading_IntegralGyroYaw2 = 0;
538 
                }
 538 
                }
539 
                // if motors are off and the thrust stick is in the upper position
 539 
                // if motors are off and the thrust stick is in the upper position
540 
                if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0)
 540 
                if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0)
541 
                {
 541 
                {
542 
                        // and if the yaw stick is in the leftmost position
 542 
                        // and if the yaw stick is in the leftmost position
543 
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
 543 
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
544 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 544 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
545 
// calibrate the neutral readings of all attitude sensors
 545 
// calibrate the neutral readings of all attitude sensors
546 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 546 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
547 
                        {
 547 
                        {
548 
                                if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
 548 
                                if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
549 
                                {
 549 
                                {
550 
                                        delay_neutral = 0;
 550 
                                        delay_neutral = 0;
551 
                                        GRN_OFF;
 551 
                                        GRN_OFF;
552 
                                        Model_Is_Flying = 0;
 552 
                                        Model_Is_Flying = 0;
553 
                                        // check roll/pitch stick position
 553 
                                        // check roll/pitch stick position
554 
                                        // if pitch stick is topmost or roll stick is leftmost --> change parameter setting
 554 
                                        // if pitch stick is topmost or roll stick is leftmost --> change parameter setting
555 
                                        // according to roll/pitch stick position
 555 
                                        // according to roll/pitch stick position
556 
                                        if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)
 556 
                                        if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)
557 
                                        {
 557 
                                        {
558 
                                                 uint8_t setting = 1; // default
 558 
                                                 uint8_t setting = 1; // default
559 
                                                 //  _________
 559 
                                                 //  _________
560 
                                                 // |2   3   4|
 560 
                                                 // |2   3   4|
561 
                                                 // |         |
 561 
                                                 // |         |
562 
                                                 // |1       5|
 562 
                                                 // |1       5|
563 
                                                 // |         |
 563 
                                                 // |         |
564 
                                                 // |_________|
 564 
                                                 // |_________|
565 
                                                 //
 565 
                                                 //
566 
                                                 // roll stick leftmost and pitch stick centered --> setting 1
 566 
                                                 // roll stick leftmost and pitch stick centered --> setting 1
567 
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1;
 567 
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1;
568 
                                                 // roll stick leftmost and pitch stick topmost --> setting 2
 568 
                                                 // roll stick leftmost and pitch stick topmost --> setting 2
569 
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2;
 569 
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2;
570 
                                                 // roll stick centered an pitch stick topmost --> setting 3
 570 
                                                 // roll stick centered an pitch stick topmost --> setting 3
571 
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3;
 571 
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3;
572 
                                                 // roll stick rightmost and pitch stick topmost --> setting 4
 572 
                                                 // roll stick rightmost and pitch stick topmost --> setting 4
573 
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4;
 573 
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4;
574 
                                                 // roll stick rightmost and pitch stick centered --> setting 5
 574 
                                                 // roll stick rightmost and pitch stick centered --> setting 5
575 
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5;
 575 
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5;
576 
                                                 // update active parameter set in eeprom
 576 
                                                 // update active parameter set in eeprom
577 
                                                 SetActiveParamSet(setting);
 577 
                                                 SetActiveParamSet(setting);
578 
                                        }
 578 
                                        }
579 
                                        ParamSet_ReadFromEEProm(GetActiveParamSet());
 579 
                                        ParamSet_ReadFromEEProm(GetActiveParamSet());
580 
                                        SetNeutral();
 580 
                                        SetNeutral();
581 
                                        Beep(GetActiveParamSet());
 581 
                                        Beep(GetActiveParamSet());
582 
                                }
 582 
                                }
583 
                        }
 583 
                        }
584 
                        // and if the yaw stick is in the rightmost position
 584 
                        // and if the yaw stick is in the rightmost position
585 
                        // save the ACC neutral setting to eeprom
 585 
                        // save the ACC neutral setting to eeprom
586 
                        else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
 586 
                        else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
587 
                        {
 587 
                        {
588 
                        if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
 588 
                        if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
589 
                                {
 589 
                                {
590 
                                delay_neutral = 0;
 590 
                                delay_neutral = 0;
591 
                                GRN_OFF;
 591 
                                GRN_OFF;
592 
                                SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid
 592 
                                SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid
593 
                                Model_Is_Flying = 0;
 593 
                                Model_Is_Flying = 0;
594 
                                SetNeutral();
 594 
                                SetNeutral();
595 
                                // Save ACC neutral settings to eeprom
 595 
                                // Save ACC neutral settings to eeprom
596 
                                SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX);
 596 
                                SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX);
597 
                                SetParamWord(PID_ACC_ROLL,  (uint16_t)NeutralAccY);
 597 
                                SetParamWord(PID_ACC_ROLL,  (uint16_t)NeutralAccY);
598 
                                SetParamWord(PID_ACC_Z,     (uint16_t)NeutralAccZ);
 598 
                                SetParamWord(PID_ACC_Z,     (uint16_t)NeutralAccZ);
599 
                                Beep(GetActiveParamSet());
 599 
                                Beep(GetActiveParamSet());
600 
                                }
 600 
                                }
601 
                        }
 601 
                        }
602 
                        else delay_neutral = 0;
 602 
                        else delay_neutral = 0;
603 
                }
 603 
                }
604 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 604 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
605 
// thrust stick is down
 605 
// thrust stick is down
606 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 606 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
607 
                if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85)
 607 
                if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85)
608 
                {
 608 
                {
609 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 609 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
610 
// and yaw stick is rightmost --> start motors
 610 
// and yaw stick is rightmost --> start motors
611 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 611 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
612 
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
 612 
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
613 
                        {
 613 
                        {
614 
                                if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
 614 
                                if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
615 
                                {
 615 
                                {
616 
                                        delay_startmotors = 200; // do not repeat if once executed
 616 
                                        delay_startmotors = 200; // do not repeat if once executed
617 
                                        Model_Is_Flying = 1;
 617 
                                        Model_Is_Flying = 1;
618 
                                        MotorsOn = 1;
 618 
                                        MotorsOn = 1;
619 
                                        SetPointYaw = 0;
 619 
                                        SetPointYaw = 0;
620 
                                        Reading_IntegralGyroYaw = 0;
 620 
                                        Reading_IntegralGyroYaw = 0;
621 
                                        Reading_IntegralGyroYaw2 = 0;
 621 
                                        Reading_IntegralGyroYaw2 = 0;
622 
                                        Reading_IntegralGyroPitch = 0;
 622 
                                        Reading_IntegralGyroPitch = 0;
623 
                                        Reading_IntegralGyroRoll = 0;
 623 
                                        Reading_IntegralGyroRoll = 0;
624 
                                        Reading_IntegralGyroPitch2 = IntegralPitch;
 624 
                                        Reading_IntegralGyroPitch2 = IntegralPitch;
625 
                                        Reading_IntegralGyroRoll2 = IntegralRoll;
 625 
                                        Reading_IntegralGyroRoll2 = IntegralRoll;
626 
                                        SumPitch = 0;
 626 
                                        SumPitch = 0;
627 
                                        SumRoll = 0;
 627 
                                        SumRoll = 0;
628 
                                        GPS_SetHomePosition();
 628 
                                        GPS_SetHomePosition();
629 
                                }
 629 
                                }
630 
                        }
 630 
                        }
631 
                        else delay_startmotors = 0; // reset delay timer if sticks are not in this position
 631 
                        else delay_startmotors = 0; // reset delay timer if sticks are not in this position
632 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 632 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
633 
// and yaw stick is leftmost --> stop motors
 633 
// and yaw stick is leftmost --> stop motors
634 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 634 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
635 
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
 635 
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
636 
                                {
 636 
                                {
637 
                                if(++delay_stopmotors > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
 637 
                                if(++delay_stopmotors > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
638 
                                {
 638 
                                {
639 
                                        delay_stopmotors = 200; // do not repeat if once executed
 639 
                                        delay_stopmotors = 200; // do not repeat if once executed
640 
                                        Model_Is_Flying = 0;
 640 
                                        Model_Is_Flying = 0;
641 
                                        MotorsOn = 0;
 641 
                                        MotorsOn = 0;
642 
                                        GPS_ClearHomePosition();
 642 
                                        GPS_ClearHomePosition();
643 
                                }
 643 
                                }
644 
                        }
 644 
                        }
645 
                        else delay_stopmotors = 0; // reset delay timer if sticks are not in this position
 645 
                        else delay_stopmotors = 0; // reset delay timer if sticks are not in this position
646 
                }
 646 
                }
647 
                        // remapping of paameters only if the signal rc-sigbnal conditions are good
 647 
                        // remapping of paameters only if the signal rc-sigbnal conditions are good
648 
        } // eof SenderOkay > 140
 648 
        } // eof SenderOkay > 140
649 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 649 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
650 
// new values from RC
 650 
// new values from RC
651 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 651 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
652 
        if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC
 652 
        if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC
653 
        {
 653 
        {
654 
                int tmp_int;
 654 
                int tmp_int;
655 
                ParameterMapping(); // remapping params (online poti replacement)
 655 
                ParameterMapping(); // remapping params (online poti replacement)
656 
                // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
 656 
                // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
657 
                StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4;
 657 
                StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4;
658 
                StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D;
 658 
                StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D;
659 
                StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;
 659 
                StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;
660 
                StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;
 660 
                StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;
661 
 
 661 
 
662 
                // direct mapping of yaw and thrust
 662 
                // direct mapping of yaw and thrust
663 
                StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];
 663 
                StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];
664 
                StickThrust  = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers
 664 
                StickThrust  = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers
665 
 
 665 
 
666 
                // update max stick positions for pitch, roll and yaw
 666 
                // update max stick positions for pitch, roll and yaw
667 
                if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch)
 667 
                if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch)
668 
                        MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]);
 668 
                        MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]);
669 
                else MaxStickPitch--;
 669 
                else MaxStickPitch--;
670 
                if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll)
 670 
                if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll)
671 
                        MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
 671 
                        MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
672 
                else MaxStickRoll--;
 672 
                else MaxStickRoll--;
673 
                if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw)
 673 
                if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw)
674 
                        MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
 674 
                        MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
675 
                else MaxStickYaw--;
 675 
                else MaxStickYaw--;
676 
 
 676 
 
677 
                // update gyro control loop factors
 677 
                // update gyro control loop factors
678 
 
 678 
 
679 
                Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0;
 679 
                Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0;
680 
                Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000;
 680 
                Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000;
681 
 
 681 
 
682 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 682 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
683 
// Digital Control via DubWise
 683 
// Digital Control via DubWise
684 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 684 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
685 
 
 685 
 
686 
                #define KEY_VALUE (FCParam.UserParam1 * 4) // step width
 686 
                #define KEY_VALUE (FCParam.UserParam1 * 4) // step width
687 
                if(DubWiseKeys[1]) BeepTime = 10;
 687 
                if(DubWiseKeys[1]) BeepTime = 10;
688 
                if(DubWiseKeys[1] & DUB_KEY_UP)  tmp_int = KEY_VALUE;
 688 
                if(DubWiseKeys[1] & DUB_KEY_UP)  tmp_int = KEY_VALUE;
689 
                else if(DubWiseKeys[1] & DUB_KEY_DOWN)  tmp_int = -KEY_VALUE;
 689 
                else if(DubWiseKeys[1] & DUB_KEY_DOWN)  tmp_int = -KEY_VALUE;
690 
                else tmp_int = 0;
 690 
                else tmp_int = 0;
691 
                ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8;
 691 
                ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8;
692 
                if(DubWiseKeys[1] & DUB_KEY_LEFT)  tmp_int = KEY_VALUE;
 692 
                if(DubWiseKeys[1] & DUB_KEY_LEFT)  tmp_int = KEY_VALUE;
693 
                else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE;
 693 
                else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE;
694 
                else tmp_int = 0;
 694 
                else tmp_int = 0;
695 
                ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;
 695 
                ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;
696 
 
 696 
 
697 
                if(DubWiseKeys[0] & 8)  ExternStickYaw = 50;else
 697 
                if(DubWiseKeys[0] & 8)  ExternStickYaw = 50;else
698 
                if(DubWiseKeys[0] & 4)  ExternStickYaw =-50;else ExternStickYaw = 0;
 698 
                if(DubWiseKeys[0] & 4)  ExternStickYaw =-50;else ExternStickYaw = 0;
699 
                if(DubWiseKeys[0] & 2)  ExternHeightValue++;
 699 
                if(DubWiseKeys[0] & 2)  ExternHeightValue++;
700 
                if(DubWiseKeys[0] & 16) ExternHeightValue--;
 700 
                if(DubWiseKeys[0] & 16) ExternHeightValue--;
701 
 
 701 
 
702 
                StickPitch += ExternStickPitch / 8;
 702 
                StickPitch += ExternStickPitch / 8;
703 
                StickRoll += ExternStickRoll / 8;
 703 
                StickRoll += ExternStickRoll / 8;
704 
                StickYaw += ExternStickYaw;
 704 
                StickYaw += ExternStickYaw;
705 
 
 705 
 
706 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 706 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
707 
//+ Analog control via serial communication
 707 
//+ Analog control via serial communication
708 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 708 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
709 
 
 709 
 
710 
                if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128)
 710 
                if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128)
711 
                {
 711 
                {
712 
                         StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P;
 712 
                         StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P;
713 
                         StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P;
 713 
                         StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P;
714 
                         StickYaw += ExternControl.Yaw;
 714 
                         StickYaw += ExternControl.Yaw;
715 
                         ExternHeightValue =  (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain;
 715 
                         ExternHeightValue =  (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain;
716 
                         if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust;
 716 
                         if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust;
717 
                }
 717 
                }
718 
                // disable I part of gyro control feedback
 718 
                // disable I part of gyro control feedback
719 
                if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor =  0;
 719 
                if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor =  0;
720 
                // avoid negative scaling factors
 720 
                // avoid negative scaling factors
721 
                if(Gyro_P_Factor < 0) Gyro_P_Factor = 0;
 721 
                if(Gyro_P_Factor < 0) Gyro_P_Factor = 0;
722 
                if(Gyro_I_Factor < 0) Gyro_I_Factor = 0;
 722 
                if(Gyro_I_Factor < 0) Gyro_I_Factor = 0;
723 
 
 723 
 
724 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 724 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
725 
// Looping?
 725 
// Looping?
726 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 726 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
727 
 
 727 
 
728 
                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT)  Looping_Left = 1;
 728 
                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT)  Looping_Left = 1;
729 
                else
 729 
                else
730 
                {
 730 
                {
731 
                 {
 731 
                 {
732 
                  if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0;
 732 
                  if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0;
733 
                 }
 733 
                 }
734 
                }
 734 
                }
735 
                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1;
 735 
                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1;
736 
                else
 736 
                else
737 
                {
 737 
                {
738 
                if(Looping_Right) // Hysterese
 738 
                if(Looping_Right) // Hysterese
739 
                 {
 739 
                 {
740 
                  if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0;
 740 
                  if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0;
741 
                 }
 741 
                 }
742 
                }
 742 
                }
743 
 
 743 
 
744 
                if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1;
 744 
                if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1;
745 
                else
 745 
                else
746 
                {
 746 
                {
747 
                if(Looping_Top)  // Hysterese
 747 
                if(Looping_Top)  // Hysterese
748 
                 {
 748 
                 {
749 
                  if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0;
 749 
                  if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0;
750 
                 }
 750 
                 }
751 
                }
 751 
                }
752 
                if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1;
 752 
                if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1;
753 
                else
 753 
                else
754 
                {
 754 
                {
755 
                if(Looping_Down) // Hysterese
 755 
                if(Looping_Down) // Hysterese
756 
                 {
 756 
                 {
757 
                  if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0;
 757 
                  if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0;
758 
                 }
 758 
                 }
759 
                }
 759 
                }
760 
 
 760 
 
761 
                if(Looping_Left || Looping_Right)   Looping_Roll = 1; else Looping_Roll = 0;
 761 
                if(Looping_Left || Looping_Right)   Looping_Roll = 1; else Looping_Roll = 0;
762 
                if(Looping_Top  || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0;
 762 
                if(Looping_Top  || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0;
763 
        } // End of new RC-Values or Emergency Landing
 763 
        } // End of new RC-Values or Emergency Landing
764 
 
 764 
 
765 
 
 765 
 
766 
        if(Looping_Roll) BeepTime = 100;
 766 
        if(Looping_Roll) BeepTime = 100;
767 
        if(Looping_Roll || Looping_Pitch)
 767 
        if(Looping_Roll || Looping_Pitch)
768 
        {
 768 
        {
769 
                if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit;
 769 
                if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit;
770 
        }
 770 
        }
771 
 
 771 
 
772 
 
 772 
 
773 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 773 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
774 
//+ LED Control on J16/J17
 774 
//+ LED Control on J16/J17
775 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 775 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
776 
        LED_OffTime = FCParam.UserParam7;
 776 
        LED_OffTime = FCParam.UserParam7;
777 
        LED_OnTime = FCParam.UserParam8;
 777 
        LED_OnTime = FCParam.UserParam8;
778 
        LED_Update();
 778 
        LED_Update();
779 
 
 779 
 
780 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 780 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
781 
// in case of emergency landing
 781 
// in case of emergency landing
782 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 782 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
783 
        // set all inputs to save values
 783 
        // set all inputs to save values
784 
        if(EmergencyLanding)
 784 
        if(EmergencyLanding)
785 
        {
 785 
        {
786 
                StickYaw = 0;
 786 
                StickYaw = 0;
787 
                StickPitch = 0;
 787 
                StickPitch = 0;
788 
                StickRoll = 0;
 788 
                StickRoll = 0;
789 
                Gyro_P_Factor  = 0.5;
 789 
                Gyro_P_Factor  = 0.5;
790 
                Gyro_I_Factor = 0.003;
 790 
                Gyro_I_Factor = 0.003;
791 
                Looping_Roll = 0;
 791 
                Looping_Roll = 0;
792 
                Looping_Pitch = 0;
 792 
                Looping_Pitch = 0;
793 
                MaxStickPitch = 0;
 793 
                MaxStickPitch = 0;
794 
                MaxStickRoll = 0;
 794 
                MaxStickRoll = 0;
795 
                MaxStickYaw = 0;
 795 
                MaxStickYaw = 0;
796 
        }
 796 
        }
797 
 
 797 
 
798 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 798 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
799 
// Trim Gyro-Integrals to ACC-Signals
 799 
// Trim Gyro-Integrals to ACC-Signals
800 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 800 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
801 
 
 801 
 
802 
        #define BALANCE_NUMBER 256L
 802 
        #define BALANCE_NUMBER 256L
803 
        // sum for averaging
 803 
        // sum for averaging
804 
        MeanIntegralPitch  += IntegralPitch;
 804 
        MeanIntegralPitch  += IntegralPitch;
805 
        MeanIntegralRoll  += IntegralRoll;
 805 
        MeanIntegralRoll  += IntegralRoll;
806 
 
 806 
 
807 
        if(Looping_Pitch || Looping_Roll) // if looping in any direction
 807 
        if(Looping_Pitch || Looping_Roll) // if looping in any direction
808 
        {
 808 
        {
809 
                // reset averaging for acc and gyro integral as well as gyro integral acc correction
 809 
                // reset averaging for acc and gyro integral as well as gyro integral acc correction
810 
                MeasurementCounter = 0;
 810 
                MeasurementCounter = 0;
811 
 
 811 
 
812 
                IntegralAccPitch = 0;
 812 
                IntegralAccPitch = 0;
813 
                IntegralAccRoll = 0;
 813 
                IntegralAccRoll = 0;
814 
 
 814 
 
815 
                MeanIntegralPitch = 0;
 815 
                MeanIntegralPitch = 0;
816 
                MeanIntegralRoll = 0;
 816 
                MeanIntegralRoll = 0;
817 
 
 817 
 
818 
                Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
 818 
                Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
819 
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
 819 
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
820 
 
 820 
 
821 
                AttitudeCorrectionPitch = 0;
 821 
                AttitudeCorrectionPitch = 0;
822 
                AttitudeCorrectionRoll = 0;
 822 
                AttitudeCorrectionRoll = 0;
823 
        }
 823 
        }
824 
 
 824 
 
825 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 825 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
826 
        if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction
 826 
        if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction
827 
        {
 827 
        {
828 
                int32_t tmp_long, tmp_long2;
 828 
                int32_t tmp_long, tmp_long2;
829 
                // determine the deviation of gyro integral from averaged acceleration sensor
 829 
                // determine the deviation of gyro integral from averaged acceleration sensor
830 
                tmp_long   =  (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch);
 830 
                tmp_long   =  (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch);
831 
                tmp_long  /= 16;
 831 
                tmp_long  /= 16;
832 
                tmp_long2  = (int32_t)(IntegralRoll   / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll);
 832 
                tmp_long2  = (int32_t)(IntegralRoll   / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll);
833 
                tmp_long2 /= 16;
 833 
                tmp_long2 /= 16;
834 
 
 834 
 
835 
                if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands
 835 
                if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands
836 
                {
 836 
                {
837 
                        tmp_long  /= 3;
 837 
                        tmp_long  /= 3;
838 
                        tmp_long2 /= 3;
 838 
                        tmp_long2 /= 3;
839 
                }
 839 
                }
840 
                if(MaxStickYaw > 25) // reduce further is yaw stick is active
 840 
                if(MaxStickYaw > 25) // reduce further is yaw stick is active
841 
                {
 841 
                {
842 
                        tmp_long  /= 3;
 842 
                        tmp_long  /= 3;
843 
                        tmp_long2 /= 3;
 843 
                        tmp_long2 /= 3;
844 
                }
 844 
                }
845 
 
 845 
 
846 
                #define BALANCE 32
 846 
                #define BALANCE 32
847 
                // limit correction effect
 847 
                // limit correction effect
848 
                if(tmp_long >  BALANCE)  tmp_long  = BALANCE;
 848 
                if(tmp_long >  BALANCE)  tmp_long  = BALANCE;
849 
                if(tmp_long < -BALANCE)  tmp_long  =-BALANCE;
 849 
                if(tmp_long < -BALANCE)  tmp_long  =-BALANCE;
850 
                if(tmp_long2 > BALANCE)  tmp_long2 = BALANCE;
 850 
                if(tmp_long2 > BALANCE)  tmp_long2 = BALANCE;
851 
                if(tmp_long2 <-BALANCE)  tmp_long2 =-BALANCE;
 851 
                if(tmp_long2 <-BALANCE)  tmp_long2 =-BALANCE;
852 
                // correct current readings
 852 
                // correct current readings
853 
                Reading_IntegralGyroPitch -= tmp_long;
 853 
                Reading_IntegralGyroPitch -= tmp_long;
854 
                Reading_IntegralGyroRoll -= tmp_long2;
 854 
                Reading_IntegralGyroRoll -= tmp_long2;
855 
        }
 855 
        }
856 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 856 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
857 
        // MeasurementCounter is incremented in the isr of analog.c
 857 
        // MeasurementCounter is incremented in the isr of analog.c
858 
        if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached
 858 
        if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached
859 
        {
 859 
        {
860 
                static int16_t cnt = 0;
 860 
                static int16_t cnt = 0;
861 
                static int8_t last_n_p, last_n_n, last_r_p, last_r_n;
 861 
                static int8_t last_n_p, last_n_n, last_r_p, last_r_n;
862 
                static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old;
 862 
                static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old;
863 
 
 863 
 
864 
                // if not lopping in any direction (this should be alwais the case,
 864 
                // if not lopping in any direction (this should be alwais the case,
865 
                // because the Measurement counter is reset to 0 if looping in any direction is active.)
 865 
                // because the Measurement counter is reset to 0 if looping in any direction is active.)
866 
                if(!Looping_Pitch && !Looping_Roll)
 866 
                if(!Looping_Pitch && !Looping_Roll)
867 
                {
 867 
                {
868 
                        // Calculate mean value of the gyro integrals
 868 
                        // Calculate mean value of the gyro integrals
869 
                        MeanIntegralPitch /= BALANCE_NUMBER;
 869 
                        MeanIntegralPitch /= BALANCE_NUMBER;
870 
                        MeanIntegralRoll  /= BALANCE_NUMBER;
 870 
                        MeanIntegralRoll  /= BALANCE_NUMBER;
871 
 
 871 
 
872 
                        // Calculate mean of the acceleration values
 872 
                        // Calculate mean of the acceleration values
873 
                        IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER;
 873 
                        IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER;
874 
                        IntegralAccRoll  = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER;
 874 
                        IntegralAccRoll  = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER;
875 
 
 875 
 
876 
                        // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++
 876 
                        // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++
877 
                        // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
 877 
                        // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
878 
                        IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch);
 878 
                        IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch);
879 
                        CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim;
 879 
                        CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim;
880 
                        AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER;
 880 
                        AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER;
881 
                        // Roll ++++++++++++++++++++++++++++++++++++++++++++++++
 881 
                        // Roll ++++++++++++++++++++++++++++++++++++++++++++++++
882 
                        // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
 882 
                        // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
883 
                        IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll);
 883 
                        IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll);
884 
                        CorrectionRoll  = IntegralErrorRoll / ParamSet.GyroAccTrim;
 884 
                        CorrectionRoll  = IntegralErrorRoll / ParamSet.GyroAccTrim;
885 
                        AttitudeCorrectionRoll  = CorrectionRoll  / BALANCE_NUMBER;
 885 
                        AttitudeCorrectionRoll  = CorrectionRoll  / BALANCE_NUMBER;
886 
 
 886 
 
887 
                        if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25))
 887 
                        if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25))
888 
                        {
 888 
                        {
889 
                                AttitudeCorrectionPitch /= 2;
 889 
                                AttitudeCorrectionPitch /= 2;
890 
                                AttitudeCorrectionRoll /= 2;
 890 
                                AttitudeCorrectionRoll /= 2;
891 
                        }
 891 
                        }
892 
 
 892 
 
893 
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 893 
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
894 
        // Gyro-Drift ermitteln
 894 
        // Gyro-Drift ermitteln
895 
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 895 
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
896 
                        // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor)
 896 
                        // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor)
897 
                        IntegralErrorPitch  = IntegralPitch2 - IntegralPitch;
 897 
                        IntegralErrorPitch  = IntegralPitch2 - IntegralPitch;
898 
                        Reading_IntegralGyroPitch2 -= IntegralErrorPitch;
 898 
                        Reading_IntegralGyroPitch2 -= IntegralErrorPitch;
899 
                        // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor)
 899 
                        // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor)
900 
                        IntegralErrorRoll = IntegralRoll2 - IntegralRoll;
 900 
                        IntegralErrorRoll = IntegralRoll2 - IntegralRoll;
901 
                        Reading_IntegralGyroRoll2 -= IntegralErrorRoll;
 901 
                        Reading_IntegralGyroRoll2 -= IntegralErrorRoll;
902 
 
 902 
 
903 
 
 903 
 
904 
                        DebugOut.Analog[17] = IntegralAccPitch / 26;
 904 
                        DebugOut.Analog[17] = IntegralAccPitch / 26;
905 
                        DebugOut.Analog[18] = IntegralAccRoll / 26;
 905 
                        DebugOut.Analog[18] = IntegralAccRoll / 26;
906 
                        DebugOut.Analog[19] = IntegralErrorPitch;// / 26;
 906 
                        DebugOut.Analog[19] = IntegralErrorPitch;// / 26;
907 
                        DebugOut.Analog[20] = IntegralErrorRoll;// / 26;
 907 
                        DebugOut.Analog[20] = IntegralErrorRoll;// / 26;
908 
                        DebugOut.Analog[21] = MeanIntegralPitch / 26;
 908 
                        DebugOut.Analog[21] = MeanIntegralPitch / 26;
909 
                        DebugOut.Analog[22] = MeanIntegralRoll / 26;
 909 
                        DebugOut.Analog[22] = MeanIntegralRoll / 26;
910 
                        //DebugOut.Analog[28] = CorrectionPitch;
 910 
                        //DebugOut.Analog[28] = CorrectionPitch;
911 
                        DebugOut.Analog[29] = CorrectionRoll;
 911 
                        DebugOut.Analog[29] = CorrectionRoll;
912 
                        DebugOut.Analog[30] = AttitudeCorrectionRoll * 10;
 912 
                        DebugOut.Analog[30] = AttitudeCorrectionRoll * 10;
913 
 
 913 
 
914 
                        #define ERROR_LIMIT  (BALANCE_NUMBER * 4)
 914 
                        #define ERROR_LIMIT  (BALANCE_NUMBER * 4)
915 
                        #define ERROR_LIMIT2 (BALANCE_NUMBER * 16)
 915 
                        #define ERROR_LIMIT2 (BALANCE_NUMBER * 16)
916 
                        #define MOVEMENT_LIMIT 20000
 916 
                        #define MOVEMENT_LIMIT 20000
917 
        // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++
 917 
        // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++
918 
                        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
 918 
                        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
919 
                        CorrectionPitch = 0;
 919 
                        CorrectionPitch = 0;
920 
                        if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT)
 920 
                        if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT)
921 
                        {
 921 
                        {
922 
                                if(IntegralErrorPitch >  ERROR_LIMIT2)
 922 
                                if(IntegralErrorPitch >  ERROR_LIMIT2)
923 
                                {
 923 
                                {
924 
                                        if(last_n_p)
 924 
                                        if(last_n_p)
925 
                                        {
 925 
                                        {
926 
                                                cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2;
 926 
                                                cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2;
927 
                                                CorrectionPitch = IntegralErrorPitch / 8;
 927 
                                                CorrectionPitch = IntegralErrorPitch / 8;
928 
                                                if(CorrectionPitch > 5000) CorrectionPitch = 5000;
 928 
                                                if(CorrectionPitch > 5000) CorrectionPitch = 5000;
929 
                                                AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER;
 929 
                                                AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER;
930 
                                        }
 930 
                                        }
931 
                                        else last_n_p = 1;
 931 
                                        else last_n_p = 1;
932 
                                }
 932 
                                }
933 
                                else  last_n_p = 0;
 933 
                                else  last_n_p = 0;
934 
                                if(IntegralErrorPitch < -ERROR_LIMIT2)
 934 
                                if(IntegralErrorPitch < -ERROR_LIMIT2)
935 
                                {
 935 
                                {
936 
                                        if(last_n_n)
 936 
                                        if(last_n_n)
937 
                                        {
 937 
                                        {
938 
                                                cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2;
 938 
                                                cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2;
939 
                                                CorrectionPitch = IntegralErrorPitch / 8;
 939 
                                                CorrectionPitch = IntegralErrorPitch / 8;
940 
                                                if(CorrectionPitch < -5000) CorrectionPitch = -5000;
 940 
                                                if(CorrectionPitch < -5000) CorrectionPitch = -5000;
941 
                                                AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER;
 941 
                                                AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER;
942 
                                        }
 942 
                                        }
943 
                                        else last_n_n = 1;
 943 
                                        else last_n_n = 1;
944 
                                }
 944 
                                }
945 
                                else  last_n_n = 0;
 945 
                                else  last_n_n = 0;
946 
                        }
 946 
                        }
947 
                        else cnt = 0;
 947 
                        else cnt = 0;
948 
                        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
 948 
                        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
949 
                        // correct Gyro Offsets
 949 
                        // correct Gyro Offsets
950 
                        if(IntegralErrorPitch >  ERROR_LIMIT)   AdNeutralPitch += cnt;
 950 
                        if(IntegralErrorPitch >  ERROR_LIMIT)   AdNeutralPitch += cnt;
951 
                        if(IntegralErrorPitch < -ERROR_LIMIT)   AdNeutralPitch -= cnt;
 951 
                        if(IntegralErrorPitch < -ERROR_LIMIT)   AdNeutralPitch -= cnt;
952 
 
 952 
 
953 
        // Roll +++++++++++++++++++++++++++++++++++++++++++++++++
 953 
        // Roll +++++++++++++++++++++++++++++++++++++++++++++++++
954 
                        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
 954 
                        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
955 
                        CorrectionRoll = 0;
 955 
                        CorrectionRoll = 0;
956 
                        if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT)
 956 
                        if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT)
957 
                        {
 957 
                        {
958 
                                if(IntegralErrorRoll >  ERROR_LIMIT2)
 958 
                                if(IntegralErrorRoll >  ERROR_LIMIT2)
959 
                                {
 959 
                                {
960 
                                        if(last_r_p)
 960 
                                        if(last_r_p)
961 
                                        {
 961 
                                        {
962 
                                                cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
 962 
                                                cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
963 
                                                CorrectionRoll = IntegralErrorRoll / 8;
 963 
                                                CorrectionRoll = IntegralErrorRoll / 8;
964 
                                                if(CorrectionRoll > 5000) CorrectionRoll = 5000;
 964 
                                                if(CorrectionRoll > 5000) CorrectionRoll = 5000;
965 
                                                AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
 965 
                                                AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
966 
                                        }
 966 
                                        }
967 
                                        else last_r_p = 1;
 967 
                                        else last_r_p = 1;
968 
                                }
 968 
                                }
969 
                                else  last_r_p = 0;
 969 
                                else  last_r_p = 0;
970 
                                if(IntegralErrorRoll < -ERROR_LIMIT2)
 970 
                                if(IntegralErrorRoll < -ERROR_LIMIT2)
971 
                                {
 971 
                                {
972 
                                        if(last_r_n)
 972 
                                        if(last_r_n)
973 
                                        {
 973 
                                        {
974 
                                                cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
 974 
                                                cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
975 
                                                CorrectionRoll = IntegralErrorRoll / 8;
 975 
                                                CorrectionRoll = IntegralErrorRoll / 8;
976 
                                                if(CorrectionRoll < -5000) CorrectionRoll = -5000;
 976 
                                                if(CorrectionRoll < -5000) CorrectionRoll = -5000;
977 
                                                AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
 977 
                                                AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
978 
                                        }
 978 
                                        }
979 
                                        else last_r_n = 1;
 979 
                                        else last_r_n = 1;
980 
                                }
 980 
                                }
981 
                                else  last_r_n = 0;
 981 
                                else  last_r_n = 0;
982 
                        }
 982 
                        }
983 
                        else cnt = 0;
 983 
                        else cnt = 0;
984 
                        // correct Gyro Offsets
 984 
                        // correct Gyro Offsets
985 
                        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
 985 
                        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
986 
                        if(IntegralErrorRoll >  ERROR_LIMIT)   AdNeutralRoll += cnt;
 986 
                        if(IntegralErrorRoll >  ERROR_LIMIT)   AdNeutralRoll += cnt;
987 
                        if(IntegralErrorRoll < -ERROR_LIMIT)   AdNeutralRoll -= cnt;
 987 
                        if(IntegralErrorRoll < -ERROR_LIMIT)   AdNeutralRoll -= cnt;
988 
 
 988 
 
989 
                        DebugOut.Analog[27] = CorrectionRoll;
 989 
                        DebugOut.Analog[27] = CorrectionRoll;
990 
                        DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch);
 990 
                        DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch);
991 
                        DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
 991 
                        DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
992 
                }
 992 
                }
993 
                else // looping is active
 993 
                else // looping is active
994 
                {
 994 
                {
995 
                        AttitudeCorrectionRoll  = 0;
 995 
                        AttitudeCorrectionRoll  = 0;
996 
                        AttitudeCorrectionPitch = 0;
 996 
                        AttitudeCorrectionPitch = 0;
997 
                }
 997 
                }
998 
 
 998 
 
999 
                // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction
 999 
                // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction
1000 
                if(!Gyro_I_Factor)
 1000 
                if(!Gyro_I_Factor)
1001 
                {
 1001 
                {
1002 
                        AttitudeCorrectionRoll  = 0;
 1002 
                        AttitudeCorrectionRoll  = 0;
1003 
                        AttitudeCorrectionPitch = 0;
 1003 
                        AttitudeCorrectionPitch = 0;
1004 
                }
 1004 
                }
1005 
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++
 1005 
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++
1006 
                MeanIntegralPitch_old = MeanIntegralPitch;
 1006 
                MeanIntegralPitch_old = MeanIntegralPitch;
1007 
                MeanIntegralRoll_old  = MeanIntegralRoll;
 1007 
                MeanIntegralRoll_old  = MeanIntegralRoll;
1008 
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++
 1008 
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++
1009 
                // reset variables used for averaging
 1009 
                // reset variables used for averaging
1010 
                IntegralAccPitch = 0;
 1010 
                IntegralAccPitch = 0;
1011 
                IntegralAccRoll = 0;
 1011 
                IntegralAccRoll = 0;
1012 
                MeanIntegralPitch = 0;
 1012 
                MeanIntegralPitch = 0;
1013 
                MeanIntegralRoll = 0;
 1013 
                MeanIntegralRoll = 0;
1014 
                MeasurementCounter = 0;
 1014 
                MeasurementCounter = 0;
1015 
        } // end of averaging
 1015 
        } // end of averaging
1016 
 
 1016 
 
1017 
 
 1017 
 
1018 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1018 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1019 
//  Yawing
 1019 
//  Yawing
1020 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1020 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1021 
        if(MaxStickYaw > 20) // yaw stick is activated
 1021 
        if(MaxStickYaw > 20) // yaw stick is activated
1022 
        {   // if not fixed compass course is set update compass course
 1022 
        {   // if not fixed compass course is set update compass course
1023 
                if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1;
 1023 
                if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1;
1024 
        }
 1024 
        }
1025 
        // exponential stick sensitivity in yawring rate
 1025 
        // exponential stick sensitivity in yawring rate
1026 
        tmp_int  = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo  y = ax + bx²
 1026 
        tmp_int  = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo  y = ax + bx²
1027 
        tmp_int += (ParamSet.Yaw_P * StickYaw) / 4;
 1027 
        tmp_int += (ParamSet.Yaw_P * StickYaw) / 4;
1028 
        SetPointYaw = tmp_int;
 1028 
        SetPointYaw = tmp_int;
1029 
        Reading_IntegralGyroYaw -= tmp_int;
 1029 
        Reading_IntegralGyroYaw -= tmp_int;
1030 
        // limit the effect
 1030 
        // limit the effect
1031 
        if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000;
 1031 
        if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000;
1032 
        if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000;
 1032 
        if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000;
1033 
 
 1033 
 
1034 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1034 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1035 
//  Compass
 1035 
//  Compass
1036 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1036 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1037 
        if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)
 1037 
        if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)
1038 
        {
 1038 
        {
1039 
                int16_t w,v;
 1039 
                int16_t w,v;
1040 
                static uint8_t updCompass = 0;
 1040 
                static uint8_t updCompass = 0;
1041 
 
 1041 
 
1042 
                if (!updCompass--)
 1042 
                if (!updCompass--)
1043 
                {
 1043 
                {
1044 
                        updCompass = 49; // update only at 2ms*50 = 100ms (10Hz)
 1044 
                        updCompass = 49; // update only at 2ms*50 = 100ms (10Hz)
1045 
                        // get current compass heading (angule between MK head and magnetic north)
 1045 
                        // get current compass heading (angule between MK head and magnetic north)
1046 
                        #ifdef USE_MM3
 1046 
                        #ifdef USE_MM3
1047 
                        CompassHeading = MM3_Heading();
 1047 
                        CompassHeading = MM3_Heading();
1048 
                        #endif
 1048 
                        #endif
1049 
                        #ifdef USE_CMPS03
 1049 
                        #ifdef USE_CMPS03
1050 
                        CompassHeading = CMPS03_Heading();
 1050 
                        CompassHeading = CMPS03_Heading();
1051 
                        #endif
 1051 
                        #endif
1052 
 
 1052 
 
1053 
                        if (CompassHeading < 0) // no compass data available
 1053 
                        if (CompassHeading < 0) // no compass data available
1054 
                        {
 1054 
                        {
1055 
                                CompassOffCourse = 0;
 1055 
                                CompassOffCourse = 0; // disables gyro compass correction
1056 
                        }
 1056 
                        }
1057 
                        else // calculate OffCourse (angular deviation from heading to course)
 1057 
                        else // calculate OffCourse (angular deviation from heading to course)
1058 
                        CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180;
 1058 
                        CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180;
1059 
                }
 1059 
                }
1060 
 
 1060 
 
1061 
                // reduce compass effect with increasing declination
 1061 
                // reduce compass effect with increasing declination
1062 
                w = abs(IntegralPitch / 512);
 1062 
                w = abs(IntegralPitch / 512);
1063 
                v = abs(IntegralRoll  / 512);
 1063 
                v = abs(IntegralRoll  / 512);
1064 
                if(v > w) w = v; // get maximum declination
 1064 
                if(v > w) w = v; // get maximum declination
1065 
                // if declination is small enough update compass course if neccessary
 1065 
                // if declination is small enough then update compass course if neccessary
1066 
                if((w < 35) && StoreNewCompassCourse && (CompassHeading>=0) )
 1066 
                if((w < 35) && StoreNewCompassCourse && (CompassHeading>=0) ) // 35 corresponds to a declination of ~14 deg
1067 
                {
 1067 
                {
1068 
                        CompassCourse = CompassHeading;
 1068 
                        CompassCourse = CompassHeading;
1069 
                        StoreNewCompassCourse = 0;
 1069 
                        StoreNewCompassCourse = 0;
1070 
                }
 1070 
                }
1071 
                w = (w * FCParam.CompassYawEffect) / 64;  // scale to parameter
 1071 
                w = (w * FCParam.CompassYawEffect) / 64;  // (w=0 for 64->~25 deg, 128->~50 deg) for higher declinaions the compass drift compensation is disabled
1072 
                w = FCParam.CompassYawEffect - w; // reduce compass effect with increasing declination
 1072 
                w = FCParam.CompassYawEffect - w; // reduce compass effect with increasing declination
1073 
                if(w > 0) // if there is any compass effect (avoid negative compass feedback)
 1073 
                if(w > 0) // if there is any compass effect (avoid negative compass feedback)
1074 
                {
 1074 
                {
1075 
                        Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32;
 1075 
                        Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32;
1076 
                }
 1076 
                }
1077 
        }
 1077 
        }
1078 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1078 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1079 
//  GPS
 1079 
//  GPS
1080 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1080 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1081 
        if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE)
 1081 
        if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE)
1082 
        {
 1082 
        {
1083 
                GPS_P_Factor = FCParam.UserParam5;
 1083 
                GPS_P_Factor = FCParam.UserParam5;
1084 
                GPS_D_Factor = FCParam.UserParam6;
 1084 
                GPS_D_Factor = FCParam.UserParam6;
1085 
                if(EmergencyLanding) GPS_Main(230); // enables Comming Home
 1085 
                if(EmergencyLanding) GPS_Main(230); // enables Comming Home
1086 
                else GPS_Main(Poti3);
 1086 
                else GPS_Main(Poti3);
1087 
        }
 1087 
        }
1088 
        else
 1088 
        else
1089 
        {
 1089 
        {
1090 
                GPS_Neutral();
 1090 
                GPS_Neutral();
1091 
        }
 1091 
        }
1092 
 
 1092 
 
1093 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1093 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1094 
//  Debugwerte zuordnen
 1094 
//  Debugwerte zuordnen
1095 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1095 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1096 
        if(!TimerDebugOut--)
 1096 
        if(!TimerDebugOut--)
1097 
        {
 1097 
        {
1098 
                TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz)
 1098 
                TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz)
1099 
                DebugOut.Analog[0]  = IntegralPitch / ParamSet.GyroAccFaktor;
 1099 
                DebugOut.Analog[0]  = IntegralPitch / ParamSet.GyroAccFaktor;
1100 
                DebugOut.Analog[1]  = IntegralRoll / ParamSet.GyroAccFaktor;
 1100 
                DebugOut.Analog[1]  = IntegralRoll / ParamSet.GyroAccFaktor;
1101 
                DebugOut.Analog[2]  = Mean_AccPitch;
 1101 
                DebugOut.Analog[2]  = Mean_AccPitch;
1102 
                DebugOut.Analog[3]  = Mean_AccRoll;
 1102 
                DebugOut.Analog[3]  = Mean_AccRoll;
1103 
                DebugOut.Analog[4]  = Reading_GyroYaw;
 1103 
                DebugOut.Analog[4]  = Reading_GyroYaw;
1104 
                DebugOut.Analog[5]  = ReadingHeight;
 1104 
                DebugOut.Analog[5]  = ReadingHeight;
1105 
                DebugOut.Analog[6]  = (Reading_Integral_Top / 512);
 1105 
                DebugOut.Analog[6]  = (Reading_Integral_Top / 512);
1106 
                DebugOut.Analog[8]  = CompassHeading;
 1106 
                DebugOut.Analog[8]  = CompassHeading;
1107 
                DebugOut.Analog[9]  = UBat;
 1107 
                DebugOut.Analog[9]  = UBat;
1108 
                DebugOut.Analog[10] = SenderOkay;
 1108 
                DebugOut.Analog[10] = SenderOkay;
1109 
                DebugOut.Analog[16] = Mean_AccTop;
 1109 
                DebugOut.Analog[16] = Mean_AccTop;
1110 
 
 1110 
 
1111 
                /*    DebugOut.Analog[16] = motor_rx[0];
 1111 
                /*    DebugOut.Analog[16] = motor_rx[0];
1112 
                DebugOut.Analog[17] = motor_rx[1];
 1112 
                DebugOut.Analog[17] = motor_rx[1];
1113 
                DebugOut.Analog[18] = motor_rx[2];
 1113 
                DebugOut.Analog[18] = motor_rx[2];
1114 
                DebugOut.Analog[19] = motor_rx[3];
 1114 
                DebugOut.Analog[19] = motor_rx[3];
1115 
                DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3];
 1115 
                DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3];
1116 
                DebugOut.Analog[20] /= 14;
 1116 
                DebugOut.Analog[20] /= 14;
1117 
                DebugOut.Analog[21] = motor_rx[4];
 1117 
                DebugOut.Analog[21] = motor_rx[4];
1118 
                DebugOut.Analog[22] = motor_rx[5];
 1118 
                DebugOut.Analog[22] = motor_rx[5];
1119 
                DebugOut.Analog[23] = motor_rx[6];
 1119 
                DebugOut.Analog[23] = motor_rx[6];
1120 
                DebugOut.Analog[24] = motor_rx[7];
 1120 
                DebugOut.Analog[24] = motor_rx[7];
1121 
                DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
 1121 
                DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
1122 
 
 1122 
 
1123 
                DebugOut.Analog[9]  = Reading_GyroPitch;
 1123 
                DebugOut.Analog[9]  = Reading_GyroPitch;
1124 
                DebugOut.Analog[9]  = SetPointHeight;
 1124 
                DebugOut.Analog[9]  = SetPointHeight;
1125 
                DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128;
 1125 
                DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128;
1126 
                DebugOut.Analog[11] = CompassCourse;
 1126 
                DebugOut.Analog[11] = CompassCourse;
1127 
                DebugOut.Analog[10] = FCParam.Gyro_I;
 1127 
                DebugOut.Analog[10] = FCParam.Gyro_I;
1128 
                DebugOut.Analog[10] = ParamSet.Gyro_I;
 1128 
                DebugOut.Analog[10] = ParamSet.Gyro_I;
1129 
                DebugOut.Analog[9]  = CompassOffCourse;
 1129 
                DebugOut.Analog[9]  = CompassOffCourse;
1130 
                DebugOut.Analog[10] = ThrustMixFraction;
 1130 
                DebugOut.Analog[10] = ThrustMixFraction;
1131 
                DebugOut.Analog[3]  = HeightD * 32;
 1131 
                DebugOut.Analog[3]  = HeightD * 32;
1132 
                DebugOut.Analog[4]  = HeightControlThrust;
 1132 
                DebugOut.Analog[4]  = HeightControlThrust;
1133 
                */
 1133 
                */
1134 
        }
 1134 
        }
1135 
 
 1135 
 
1136 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1136 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1137 
//  calculate control feedback from angle (gyro integral) and agular velocity (gyro signal)
 1137 
//  calculate control feedback from angle (gyro integral) and agular velocity (gyro signal)
1138 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1138 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1139 
 
 1139 
 
1140 
        if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor;
 1140 
        if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor;
1141 
        else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor;
 1141 
        else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor;
1142 
        if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor;
 1142 
        if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor;
1143 
        else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor;
 1143 
        else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor;
1144 
        Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2;
 1144 
        Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2;
1145 
 
 1145 
 
1146 
        DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor;
 1146 
        DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor;
1147 
        DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor);
 1147 
        DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor);
1148 
        DebugOut.Analog[28] = Reading_GyroRoll;
 1148 
        DebugOut.Analog[28] = Reading_GyroRoll;
1149 
 
 1149 
 
1150 
        // limit control feedback
 1150 
        // limit control feedback
1151 
        #define MAX_SENSOR  2048
 1151 
        #define MAX_SENSOR  2048
1152 
        if(Reading_GyroPitch >  MAX_SENSOR) Reading_GyroPitch =  MAX_SENSOR;
 1152 
        if(Reading_GyroPitch >  MAX_SENSOR) Reading_GyroPitch =  MAX_SENSOR;
1153 
        if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR;
 1153 
        if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR;
1154 
        if(Reading_GyroRoll  >  MAX_SENSOR) Reading_GyroRoll  =  MAX_SENSOR;
 1154 
        if(Reading_GyroRoll  >  MAX_SENSOR) Reading_GyroRoll  =  MAX_SENSOR;
1155 
        if(Reading_GyroRoll  < -MAX_SENSOR) Reading_GyroRoll  = -MAX_SENSOR;
 1155 
        if(Reading_GyroRoll  < -MAX_SENSOR) Reading_GyroRoll  = -MAX_SENSOR;
1156 
        if(Reading_GyroYaw   >  MAX_SENSOR) Reading_GyroYaw   =  MAX_SENSOR;
 1156 
        if(Reading_GyroYaw   >  MAX_SENSOR) Reading_GyroYaw   =  MAX_SENSOR;
1157 
        if(Reading_GyroYaw   < -MAX_SENSOR) Reading_GyroYaw   = -MAX_SENSOR;
 1157 
        if(Reading_GyroYaw   < -MAX_SENSOR) Reading_GyroYaw   = -MAX_SENSOR;
1158 
 
 1158 
 
1159 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1159 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1160 
// Height Control
 1160 
// Height Control
1161 
// The higth control algorithm reduces the thrust but does not increase the thrust.
 1161 
// The higth control algorithm reduces the thrust but does not increase the thrust.
1162 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1162 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1163 
        // If hight control is activated and no emergency landing is active
 1163 
        // If hight control is activated and no emergency landing is active
1164 
        if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) )
 1164 
        if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) )
1165 
        {
 1165 
        {
1166 
                int tmp_int;
 1166 
                int tmp_int;
1167 
                // if hight control is activated by an rc channel
 1167 
                // if hight control is activated by an rc channel
1168 
                if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH)
 1168 
                if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH)
1169 
                {       // check if parameter is less than activation threshold
 1169 
                {       // check if parameter is less than activation threshold
1170 
                        if(FCParam.MaxHeight < 50)
 1170 
                        if(FCParam.MaxHeight < 50)
1171 
                        {
 1171 
                        {
1172 
                                SetPointHeight = ReadingHeight - 20;  // update SetPoint with current reading
 1172 
                                SetPointHeight = ReadingHeight - 20;  // update SetPoint with current reading
1173 
                                HeightControlActive = 0; // disable hight control
 1173 
                                HeightControlActive = 0; // disable hight control
1174 
                        }
 1174 
                        }
1175 
                        else HeightControlActive = 1; // enable hight control
 1175 
                        else HeightControlActive = 1; // enable hight control
1176 
                }
 1176 
                }
1177 
                else // no switchable hight control
 1177 
                else // no switchable hight control
1178 
                {
 1178 
                {
1179 
                        SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20;
 1179 
                        SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20;
1180 
                        HeightControlActive = 1;
 1180 
                        HeightControlActive = 1;
1181 
                }
 1181 
                }
1182 
                // get current hight
 1182 
                // get current hight
1183 
                h = ReadingHeight;
 1183 
                h = ReadingHeight;
1184 
                // if current hight is above the setpoint reduce thrust
 1184 
                // if current hight is above the setpoint reduce thrust
1185 
                if((h > SetPointHeight) && HeightControlActive)
 1185 
                if((h > SetPointHeight) && HeightControlActive)
1186 
                {
 1186 
                {
1187 
                        // hight difference -> P control part
 1187 
                        // hight difference -> P control part
1188 
                        h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / 16;
 1188 
                        h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / 16;
1189 
                        h = ThrustMixFraction - h; // reduce gas
 1189 
                        h = ThrustMixFraction - h; // reduce gas
1190 
                        // higth gradient --> D control part
 1190 
                        // higth gradient --> D control part
1191 
                        h -= (HeightD * FCParam.Height_D) / 8;  // D control part
 1191 
                        h -= (HeightD * FCParam.Height_D) / 8;  // D control part
1192 
                        // acceleration sensor effect
 1192 
                        // acceleration sensor effect
1193 
                        tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Height_ACC_Effect) / 32;
 1193 
                        tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Height_ACC_Effect) / 32;
1194 
                        if(tmp_int > 50) tmp_int = 50;
 1194 
                        if(tmp_int > 50) tmp_int = 50;
1195 
                        if(tmp_int < -50) tmp_int = -50;
 1195 
                        if(tmp_int < -50) tmp_int = -50;
1196 
                        h -= tmp_int;
 1196 
                        h -= tmp_int;
1197 
                        // update hight control thrust
 1197 
                        // update hight control thrust
1198 
                        HeightControlThrust = (HeightControlThrust*15 + h) / 16;
 1198 
                        HeightControlThrust = (HeightControlThrust*15 + h) / 16;
1199 
                        // limit thrust reduction
 1199 
                        // limit thrust reduction
1200 
                        if(HeightControlThrust < ParamSet.Height_MinThrust)
 1200 
                        if(HeightControlThrust < ParamSet.Height_MinThrust)
1201 
                        {
 1201 
                        {
1202 
                                if(ThrustMixFraction >= ParamSet.Height_MinThrust) HeightControlThrust = ParamSet.Height_MinThrust;
 1202 
                                if(ThrustMixFraction >= ParamSet.Height_MinThrust) HeightControlThrust = ParamSet.Height_MinThrust;
1203 
                                // allows landing also if thrust stick is reduced below min thrust on hight control
 1203 
                                // allows landing also if thrust stick is reduced below min thrust on hight control
1204 
                                if(ThrustMixFraction < ParamSet.Height_MinThrust) HeightControlThrust = ThrustMixFraction;
 1204 
                                if(ThrustMixFraction < ParamSet.Height_MinThrust) HeightControlThrust = ThrustMixFraction;
1205 
                        }
 1205 
                        }
1206 
                        // limit thrust to stick setting
 1206 
                        // limit thrust to stick setting
1207 
                        if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction;
 1207 
                        if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction;
1208 
                        ThrustMixFraction = HeightControlThrust;
 1208 
                        ThrustMixFraction = HeightControlThrust;
1209 
                }
 1209 
                }
1210 
        }
 1210 
        }
1211 
        // limit thrust to parameter setting
 1211 
        // limit thrust to parameter setting
1212 
        if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20;
 1212 
        if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20;
1213 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1213 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1214 
// + Mixer and PI-Controller
 1214 
// + Mixer and PI-Controller
1215 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1215 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 
        DebugOut.Analog[7] = ThrustMixFraction;
 1216 
        DebugOut.Analog[7] = ThrustMixFraction;
1217 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1217 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1218 
// Yaw-Fraction
 1218 
// Yaw-Fraction
1219 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1219 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1220 
    YawMixFraction = Reading_GyroYaw - SetPointYaw;     // yaw controller
 1220 
    YawMixFraction = Reading_GyroYaw - SetPointYaw;     // yaw controller
1221 
 
 1221 
 
1222 
        // limit YawMixFraction
 1222 
        // limit YawMixFraction
1223 
    if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2;
 1223 
    if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2;
1224 
    if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2);
 1224 
    if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2);
1225 
    if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction));
 1225 
    if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction));
1226 
    if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction));
 1226 
    if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction));
1227 
    if(ThrustMixFraction < 20) YawMixFraction = 0;
 1227 
    if(ThrustMixFraction < 20) YawMixFraction = 0;
1228 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1228 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1229 
// Pitch-Axis
 1229 
// Pitch-Axis
1230 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1230 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1231 
    DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch);   // get difference
 1231 
    DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch);   // get difference
1232 
    if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control
 1232 
    if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control
1233 
    else SumPitch += DiffPitch; // I-part for head holding
 1233 
    else SumPitch += DiffPitch; // I-part for head holding
1234 
    if(SumPitch >  16000) SumPitch =  16000;
 1234 
    if(SumPitch >  16000) SumPitch =  16000;
1235 
    if(SumPitch < -16000) SumPitch = -16000;
 1235 
    if(SumPitch < -16000) SumPitch = -16000;
1236 
    pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch
 1236 
    pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch
1237 
 
 1237 
 
1238 
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
 1238 
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
1239 
    if(pd_result >  tmp_int) pd_result =  tmp_int;
 1239 
    if(pd_result >  tmp_int) pd_result =  tmp_int;
1240 
    if(pd_result < -tmp_int) pd_result = -tmp_int;
 1240 
    if(pd_result < -tmp_int) pd_result = -tmp_int;
1241 
 
 1241 
 
1242 
        // Motor Front
 1242 
        // Motor Front
1243 
    MotorValue = ThrustMixFraction + pd_result + YawMixFraction;          // Mixer
 1243 
    MotorValue = ThrustMixFraction + pd_result + YawMixFraction;          // Mixer
1244 
        if ((MotorValue < 0)) MotorValue = 0;
 1244 
        if ((MotorValue < 0)) MotorValue = 0;
1245 
        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
 1245 
        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
1246 
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
 1246 
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
1247 
        Motor_Front = MotorValue;
 1247 
        Motor_Front = MotorValue;
1248 
 
 1248 
 
1249 
 // Motor Rear
 1249 
 // Motor Rear
1250 
        MotorValue = ThrustMixFraction - pd_result + YawMixFraction;     // Mixer
 1250 
        MotorValue = ThrustMixFraction - pd_result + YawMixFraction;     // Mixer
1251 
        if ((MotorValue < 0)) MotorValue = 0;
 1251 
        if ((MotorValue < 0)) MotorValue = 0;
1252 
        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
 1252 
        else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
1253 
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
 1253 
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
1254 
        Motor_Rear = MotorValue;
 1254 
        Motor_Rear = MotorValue;
1255 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1255 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1256 
// Roll-Axis
 1256 
// Roll-Axis
1257 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1257 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1258 
        DiffRoll = Reading_GyroRoll - (StickRoll  - GPS_Roll);  // get difference
 1258 
        DiffRoll = Reading_GyroRoll - (StickRoll  - GPS_Roll);  // get difference
1259 
    if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll  - GPS_Roll); // I-part for attitude control
 1259 
    if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll  - GPS_Roll); // I-part for attitude control
1260 
    else SumRoll += DiffRoll;  // I-part for head holding
 1260 
    else SumRoll += DiffRoll;  // I-part for head holding
1261 
    if(SumRoll >  16000) SumRoll =  16000;
 1261 
    if(SumRoll >  16000) SumRoll =  16000;
1262 
    if(SumRoll < -16000) SumRoll = -16000;
 1262 
    if(SumRoll < -16000) SumRoll = -16000;
1263 
    pd_result = DiffRoll + Ki * SumRoll;         // PI-controller for roll
 1263 
    pd_result = DiffRoll + Ki * SumRoll;         // PI-controller for roll
1264 
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
 1264 
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
1265 
    if(pd_result >  tmp_int) pd_result =  tmp_int;
 1265 
    if(pd_result >  tmp_int) pd_result =  tmp_int;
1266 
    if(pd_result < -tmp_int) pd_result = -tmp_int;
 1266 
    if(pd_result < -tmp_int) pd_result = -tmp_int;
1267 
 
 1267 
 
1268 
    // Motor Left
 1268 
    // Motor Left
1269 
    MotorValue = ThrustMixFraction + pd_result - YawMixFraction;  // Mixer
 1269 
    MotorValue = ThrustMixFraction + pd_result - YawMixFraction;  // Mixer
1270 
        if ((MotorValue < 0)) MotorValue = 0;
 1270 
        if ((MotorValue < 0)) MotorValue = 0;
1271 
        else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
 1271 
        else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
1272 
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
 1272 
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
1273 
    Motor_Left = MotorValue;
 1273 
    Motor_Left = MotorValue;
1274 
 
 1274 
 
1275 
 // Motor Right
 1275 
 // Motor Right
1276 
        MotorValue = ThrustMixFraction - pd_result - YawMixFraction;  // Mixer
 1276 
        MotorValue = ThrustMixFraction - pd_result - YawMixFraction;  // Mixer
1277 
        if ((MotorValue < 0)) MotorValue = 0;
 1277 
        if ((MotorValue < 0)) MotorValue = 0;
1278 
        else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
 1278 
        else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
1279 
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
 1279 
        if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
1280 
    Motor_Right = MotorValue;
 1280 
    Motor_Right = MotorValue;
1281 
}
 1281 
}
1282 
 
 1282 
 
1283 
 
 1283