WebSVN - FlightCtrl - Diff - Rev 707 and 711 - /branches/V0.68d CRK HexaLotte/fc.c

 /*#######################################################################################
 Flight Control
 #######################################################################################*/
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) 04.2007 Holger Buss
 // + Nur für den privaten Gebrauch
 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
 // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
 // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
 // + bzgl. der Nutzungsbedingungen aufzunehmen.
 // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
 // + Verkauf von Luftbildaufnahmen, usw.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
 // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
 // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
 // + eindeutig als Ursprung verlinkt werden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
 // + Benutzung auf eigene Gefahr
 // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
 // + mit unserer Zustimmung zulässig
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Redistributions of source code (with or without modifications) must retain the above copyright notice,
 // + this list of conditions and the following disclaimer.
 // +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
 // +     from this software without specific prior written permission.
 // +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
 // +     for non-commercial use (directly or indirectly)
 // +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
 // +     with our written permission
 // +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
 // +     clearly linked as origin
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 // +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 // +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 // +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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 // +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // +  POSSIBILITY OF SUCH DAMAGE.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #include <stdlib.h>
 #include <avr/io.h>
 #include "main.h"
 #include "eeprom.h"
 #include "timer0.h"
 #include "_Settings.h"
 #include "analog.h"
 #include "fc.h"
 #include "gps.h"
 #include "uart.h"
 #include "rc.h"
 #include "twimaster.h"
 #include "mm3.h"
 volatile unsigned int I2CTimeout = 100;
 // gyro readings
-volatile int16_t ReadingPitch, ReadingRoll, ReadingYaw;
+volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw;
 // gyro neutral readings
 volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0;
 volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0;
 // mean accelerations
 volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;
 // neutral acceleration readings
 volatile int16_t NeutralAccX=0, NeutralAccY=0;
 volatile float NeutralAccZ = 0;
 // attitude gyro integrals
 volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0;
 volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0;
 volatile int32_t IntegralYaw = 0;
-volatile int32_t Reading_IntegralPitch = 0, Reading_IntegralPitch2 = 0;
+volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0;
-volatile int32_t Reading_IntegralRoll = 0,  Reading_IntegralRoll2 = 0;
+volatile int32_t Reading_IntegralGyroRoll = 0,  Reading_IntegralGyroRoll2 = 0;
-volatile int32_t Reading_IntegralYaw = 0,   Reading_IntegralYaw2 = 0;
+volatile int32_t Reading_IntegralGyroYaw = 0,   Reading_IntegralGyroYaw2 = 0;
-volatile int32_t MeanIntegralPitch, MeanIntegralPitch2;
+volatile int32_t MeanIntegralPitch;
-volatile int32_t MeanIntegralRoll, MeanIntegralRoll2;
+volatile int32_t MeanIntegralRoll;
 // attitude acceleration integrals
-volatile int32_t IntegralAccPitch = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
+volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0, IntegralAccZ = 0;
 volatile int32_t Reading_Integral_Top = 0;
 // compass course
 volatile int16_t CompassHeading = 0;
 volatile int16_t CompassCourse = 0;
 volatile int16_t CompassOffCourse = 0;
 // flags
 uint8_t MotorsOn = 0;
 int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L;
 float Gyro_P_Factor;
 float Gyro_I_Factor;
 volatile int16_t  DiffPitch, DiffRoll;
 int16_t  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
 // setpoints for motors
 volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left;
 // stick values derived by rc channels readings
 int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0;
+int16_t MaxStickPitch = 0, MaxStickRoll = 0, MaxStickYaw = 0;
 // stick values derived by uart inputs
 int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHightValue = -20;
 int MaxStickPitch = 0, MaxStickRoll = 0;
 int16_t ReadingHight = 0;
 int16_t SetPointHight = 0;
 int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0;
 float Ki =  FACTOR_I;
 uint8_t Looping_Pitch = 0, Looping_Roll = 0;
 uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;
 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};
 /************************************************************************/
 /*  Creates numbeeps beeps at the speaker                               */
 /************************************************************************/
 void Beep(uint8_t numbeeps)
+{
         while(numbeeps--)
+        {
                 if(MotorsOn) return; //auf keinen Fall im Flug!
                 BeepTime = 100; // 0.1 second
                 Delay_ms(250); // blocks 250 ms as pause to next beep,
                 // this will block the flight control loop,
                 // therefore do not use this funktion if motors are running
+        }
+}
 /************************************************************************/
 /*  Neutral Readings                                                    */
 /************************************************************************/
 void SetNeutral(void)
+{
         NeutralAccX = 0;
         NeutralAccY = 0;
         NeutralAccZ = 0;
     AdNeutralPitch = 0;
         AdNeutralRoll = 0;
         AdNeutralYaw = 0;
     FCParam.Yaw_PosFeedback = 0;
     FCParam.Yaw_NegFeedback = 0;
     CalibMean();
     Delay_ms_Mess(100);
         CalibMean();
     if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Hight Control activated?
+    {
                 if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
+    }
         AdNeutralPitch = AdValueGyrPitch;
         AdNeutralRoll  = AdValueGyrRoll;
         AdNeutralYaw   = AdValueGyrYaw;
         StartNeutralRoll  = AdNeutralRoll;
         StartNeutralPitch = AdNeutralPitch;
     if(GetParamByte(PID_ACC_PITCH) > 4)
+    {
                 NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY;
                 NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY;
                 NeutralAccZ = Current_AccZ;
+    }
     else
+    {
                 NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH);
             NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
             NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z);
+    }
-        Reading_IntegralPitch = 0;
+        Reading_IntegralGyroPitch = 0;
-    Reading_IntegralPitch2 = 0;
+    Reading_IntegralGyroPitch2 = 0;
-    Reading_IntegralRoll = 0;
+    Reading_IntegralGyroRoll = 0;
-    Reading_IntegralRoll2 = 0;
+    Reading_IntegralGyroRoll2 = 0;
-    Reading_IntegralYaw = 0;
+    Reading_IntegralGyroYaw = 0;
-    ReadingPitch = 0;
+    Reading_GyroPitch = 0;
-    ReadingRoll = 0;
+    Reading_GyroRoll = 0;
-    ReadingYaw = 0;
+    Reading_GyroYaw = 0;
     StartAirPressure = AirPressure;
     HightD = 0;
     Reading_Integral_Top = 0;
     CompassCourse = CompassHeading;
     GPS_Neutral();
     BeepTime = 50;
         TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;
         TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;
     ExternHightValue = 0;
+}
 /************************************************************************/
 /*  Averaging Measurement Readings                                      */
 /************************************************************************/
 void Mean(void)
+{
     static int32_t tmpl,tmpl2;
- // Get offset corrected gyro readings
+ // Get offset corrected gyro readings (~ to angular velocity)
-    ReadingYaw   = AdNeutralYaw    - AdValueGyrYaw;
+    Reading_GyroYaw   = AdNeutralYaw    - AdValueGyrYaw;
-    ReadingRoll  = AdValueGyrRoll  - AdNeutralRoll;
+    Reading_GyroRoll  = AdValueGyrRoll  - AdNeutralRoll;
-    ReadingPitch = AdValueGyrPitch - AdNeutralPitch;
+    Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch;
-        DebugOut.Analog[26] = ReadingPitch;
+        DebugOut.Analog[26] = Reading_GyroPitch;
+        DebugOut.Analog[28] = Reading_GyroRoll;
         DebugOut.Analog[28] = ReadingRoll;
 // Acceleration Sensor
-// Acceleration Sensor
+        // sliding average sensor readings
         Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L;
         Mean_AccRoll  = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L;
         Mean_AccTop   = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L;
         // sum sensor readings for later averaging
     IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch;
     IntegralAccRoll  += ACC_AMPLIFY * AdValueAccRoll;
     IntegralAccZ     += Current_AccZ - NeutralAccZ;
 // Yaw
+        // calculate yaw gyro intergral (~ to rotation angle)
-    Reading_IntegralYaw +=  ReadingYaw;
+    Reading_IntegralGyroYaw  += Reading_GyroYaw;
-    Reading_IntegralYaw2 += ReadingYaw;
+    Reading_IntegralGyroYaw2 += Reading_GyroYaw;
-// Coupling fraction
+        // Coupling fraction
         if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
+        {
-                tmpl = Reading_IntegralPitch / 4096L;
+                tmpl = Reading_IntegralGyroPitch / 4096L;
-                tmpl *= ReadingYaw;
+                tmpl *= Reading_GyroYaw;
                 tmpl *= FCParam.Yaw_PosFeedback;  //125
                 tmpl /= 2048L;
-                tmpl2 = Reading_IntegralRoll / 4096L;
+                tmpl2 = Reading_IntegralGyroRoll / 4096L;
-                tmpl2 *= ReadingYaw;
+                tmpl2 *= Reading_GyroYaw;
                 tmpl2 *= FCParam.Yaw_PosFeedback;
                 tmpl2 /= 2048L;
+        }
         else  tmpl = tmpl2 = 0;
 // Roll
-        ReadingRoll += tmpl;
+        Reading_GyroRoll += tmpl;
-        ReadingRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109
+        Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; //109
-        Reading_IntegralRoll2 += ReadingRoll;
+        Reading_IntegralGyroRoll2 += Reading_GyroRoll;
-        Reading_IntegralRoll +=  ReadingRoll - AttitudeCorrectionRoll;
+        Reading_IntegralGyroRoll +=  Reading_GyroRoll - AttitudeCorrectionRoll;
-        if(Reading_IntegralRoll > TurnOver180Roll)
+        if(Reading_IntegralGyroRoll > TurnOver180Roll)
+        {
-                Reading_IntegralRoll  = -(TurnOver180Roll - 10000L);
+                Reading_IntegralGyroRoll  = -(TurnOver180Roll - 10000L);
-                Reading_IntegralRoll2 = Reading_IntegralRoll;
+                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
+        }
-        if(Reading_IntegralRoll < -TurnOver180Roll)
+        if(Reading_IntegralGyroRoll < -TurnOver180Roll)
+        {
-                Reading_IntegralRoll =  (TurnOver180Roll - 10000L);
+                Reading_IntegralGyroRoll =  (TurnOver180Roll - 10000L);
-                Reading_IntegralRoll2 = Reading_IntegralRoll;
+                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
+        }
-        if(AdValueGyrRoll < 15)   ReadingRoll = -1000;
+        if(AdValueGyrRoll < 15)   Reading_GyroRoll = -1000;
-        if(AdValueGyrRoll <  7)   ReadingRoll = -2000;
+        if(AdValueGyrRoll <  7)   Reading_GyroRoll = -2000;
         if(BoardRelease == 10)
-         {
+        {
-                if(AdValueGyrRoll > 1010) ReadingRoll = +1000;
+                if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000;
-                if(AdValueGyrRoll > 1017) ReadingRoll = +2000;
+                if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000;
-         }
+        }
-         else
+        else
-         {
+        {
-                if(AdValueGyrRoll > 2020) ReadingRoll = +1000;
+                if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000;
-                if(AdValueGyrRoll > 2034) ReadingRoll = +2000;
+                if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000;
-         }
+        }
 // Pitch
-        ReadingPitch -= tmpl2;
+        Reading_GyroPitch -= tmpl2;
-        ReadingPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L;
+        Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L;
-        Reading_IntegralPitch2 += ReadingPitch;
+        Reading_IntegralGyroPitch2 += Reading_GyroPitch;
-        Reading_IntegralPitch  += ReadingPitch - AttitudeCorrectionPitch;
+        Reading_IntegralGyroPitch  += Reading_GyroPitch - AttitudeCorrectionPitch;
-        if(Reading_IntegralPitch > TurnOver180Pitch)
+        if(Reading_IntegralGyroPitch > TurnOver180Pitch)
+        {
-         Reading_IntegralPitch = -(TurnOver180Pitch - 10000L);
+         Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L);
-         Reading_IntegralPitch2 = Reading_IntegralPitch;
+         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
+        }
-        if(Reading_IntegralPitch < -TurnOver180Pitch)
+        if(Reading_IntegralGyroPitch < -TurnOver180Pitch)
+        {
-         Reading_IntegralPitch =  (TurnOver180Pitch - 10000L);
+         Reading_IntegralGyroPitch =  (TurnOver180Pitch - 10000L);
-         Reading_IntegralPitch2 = Reading_IntegralPitch;
+         Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
+        }
-        if(AdValueGyrPitch < 15)   ReadingPitch = -1000;
+        if(AdValueGyrPitch < 15)   Reading_GyroPitch = -1000;
-        if(AdValueGyrPitch <  7)   ReadingPitch = -2000;
+        if(AdValueGyrPitch <  7)   Reading_GyroPitch = -2000;
         if(BoardRelease == 10)
-         {
+        {
-                if(AdValueGyrPitch > 1010) ReadingPitch = +1000;
+                if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000;
-                if(AdValueGyrPitch > 1017) ReadingPitch = +2000;
+                if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000;
-         }
+        }
-         else
+        else
-         {
+        {
-                if(AdValueGyrPitch > 2020) ReadingPitch = +1000;
+                if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000;
-                if(AdValueGyrPitch > 2034) ReadingPitch = +2000;
+                if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000;
-         }
+        }
 // start ADC
     ADC_Enable();
-    IntegralYaw  = Reading_IntegralYaw;
+    IntegralYaw    = Reading_IntegralGyroYaw;
-    IntegralPitch = Reading_IntegralPitch;
+    IntegralPitch  = Reading_IntegralGyroPitch;
-    IntegralRoll = Reading_IntegralRoll;
+    IntegralRoll   = Reading_IntegralGyroRoll;
-    IntegralPitch2 = Reading_IntegralPitch2;
+    IntegralPitch2 = Reading_IntegralGyroPitch2;
-    IntegralRoll2 = Reading_IntegralRoll2;
+    IntegralRoll2  = Reading_IntegralGyroRoll2;
-        if(ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER && !Looping_Pitch && !Looping_Roll)
+        if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll)
         {
-        if(ReadingPitch > 200)       ReadingPitch += 4 * (ReadingPitch - 200);
+                if(Reading_GyroPitch > 200)       Reading_GyroPitch += 4 * (Reading_GyroPitch - 200);
-        else if(ReadingPitch < -200) ReadingPitch += 4 * (ReadingPitch + 200);
+                else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200);
-        if(ReadingRoll > 200)        ReadingRoll  += 4 * (ReadingRoll - 200);
+                if(Reading_GyroRoll > 200)        Reading_GyroRoll  += 4 * (Reading_GyroRoll - 200);
-        else if(ReadingRoll < -200)  ReadingRoll  += 4 * (ReadingRoll + 200);
+                else if(Reading_GyroRoll < -200)  Reading_GyroRoll  += 4 * (Reading_GyroRoll + 200);
+        }
-        //update poti values by rc-signals (why not +127?)
+        //update poti values by rc-signals
     if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
     if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
     if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
     if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
         //limit poti values
     if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
     if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
     if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
     if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
+}
 /************************************************************************/
 /*  Averaging Measurement Readings  for Calibration                     */
 /************************************************************************/
 void CalibMean(void)
+{
     // stop ADC to avoid changing values during calculation
         ADC_Disable();
-        ReadingPitch = AdValueGyrPitch;
+        Reading_GyroPitch = AdValueGyrPitch;
-        ReadingRoll = AdValueGyrRoll;
+        Reading_GyroRoll  = AdValueGyrRoll;
-        ReadingYaw = AdValueGyrYaw;
+        Reading_GyroYaw   = AdValueGyrYaw;
         Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch;
-        Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll;
+        Mean_AccRoll  = ACC_AMPLIFY * (int32_t)AdValueAccRoll;
-        Mean_AccTop = (int32_t)AdValueAccTop;
+        Mean_AccTop   = (int32_t)AdValueAccTop;
-   // start ADC
+    // start ADC
     ADC_Enable();
     //update poti values by rc-signals (why not +127?)
     if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
     if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
     if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
     if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
         //limit poti values
     if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
     if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
     if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
     if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
         TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L;
         TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L;
+}
 /************************************************************************/
 /*  Transmit Motor Data via I2C                                         */
 /************************************************************************/
 void SendMotorData(void)
+{
     if(MOTOR_OFF || !MotorsOn)
+    {
         Motor_Rear = 0;
         Motor_Front = 0;
         Motor_Right = 0;
         Motor_Left = 0;
         if(MotorTest[0]) Motor_Front = MotorTest[0];
         if(MotorTest[1]) Motor_Rear = MotorTest[1];
         if(MotorTest[2]) Motor_Left = MotorTest[2];
         if(MotorTest[3]) Motor_Right = MotorTest[3];
+     }
     DebugOut.Analog[12] = Motor_Front;
     DebugOut.Analog[13] = Motor_Rear;
     DebugOut.Analog[14] = Motor_Left;
     DebugOut.Analog[15] = Motor_Right;
     //Start I2C Interrupt Mode
     twi_state = 0;
     motor = 0;
     i2c_start();
+}
 /************************************************************************/
 /*  Maps the parameter to poti values                                   */
 /************************************************************************/
 void ParameterMapping(void)
+{
- #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;}
+        #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;}
- CHK_POTI(FCParam.MaxHight,ParamSet.MaxHight,0,255);
+        CHK_POTI(FCParam.MaxHight,ParamSet.MaxHight,0,255);
- CHK_POTI(FCParam.AirPressure_D,ParamSet.AirPressure_D,0,100);
+        CHK_POTI(FCParam.Hight_D,ParamSet.Hight_D,0,100);
- CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100);
+        CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100);
- CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_ACC_Effect,0,255);
+        CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_ACC_Effect,0,255);
- CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255);
+        CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255);
- CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255);
+        CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255);
- CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255);
+        CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255);
- CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255);
+        CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255);
- CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255);
+        CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255);
- CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255);
+        CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255);
- CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255);
+        CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255);
- CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255);
+        CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255);
- CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255);
+        CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255);
- CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255);
+        CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255);
- CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255);
+        CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255);
- CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255);
+        CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255);
- CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255);
+        CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255);
- CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255);
+        CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255);
- CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255);
+        CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255);
- CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255);
+        CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255);
- CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255);
+        CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255);
- Ki = (float) FCParam.I_Factor * FACTOR_I;
+        Ki = (float) FCParam.I_Factor * FACTOR_I;
+}
 /************************************************************************/
 /*  MotorControl                                                        */
 /************************************************************************/
 void MotorRegler(void)
+{
-         int16_t MotorValue, pd_ergebnis, h, tmp_int;
+         int16_t MotorValue, pd_result, h, tmp_int;
-         int16_t YawMixingFraction, ThrustMixingFraction;
+         int16_t YawMixFraction, ThrustMixFraction;
      static int32_t SumPitch = 0, SumRoll = 0;
-     static int32_t SetPointYaw = 0, tmp_long, tmp_long2;
+     static int32_t SetPointYaw = 0;
      static int32_t IntegralErrorPitch = 0;
      static int32_t IntegralErrorRoll = 0;
          static uint16_t RcLostTimer;
          static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0;
          static uint16_t Modell_Is_Flying = 0;
          static uint8_t EmergencyLanding = 0;
          static uint8_t HightControlActive = 0;
-     static int16_t hoehenregler = 0;
+     static int16_t HightControlThrust = 0;
      static int8_t TimerDebugOut = 0;
      static int8_t StoreNewCompassCourse = 0;
      static int32_t CorrectionPitch, CorrectionRoll;
         Mean();
     GRN_ON;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // determine thrust value
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-        ThrustMixingFraction = StickThrust;
+        ThrustMixFraction = StickThrust;
-    if(ThrustMixingFraction < 0) ThrustMixingFraction = 0;
+    if(ThrustMixFraction < 0) ThrustMixFraction = 0;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // RC-signal is bad
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // SenderOkay is incremented at good rc-level, i.e. if the ppm-signal deviation
 // of a channel to previous frame is less than 1% the SenderOkay is incremented by 10.
 // Typicaly within a frame of 8 channels (22.5ms) the SenderOkay is incremented by 8 * 10 = 80
 // The decremtation of 1 in the mainloop is done every 2 ms, i.e. within a time of one rc frame
 // the main loop is running 11 times that decrements the SenderOkay by 11.
 if(SenderOkay < 100)  // the rc-frame signal is not reveived or noisy
+        {
                 if(!PcAccess) // if also no PC-Access via UART
+                {
                         if(BeepModulation == 0xFFFF)
+                        {
                          BeepTime = 15000; // 1.5 seconds
                          BeepModulation = 0x0C00;
+                        }
+                }
                 if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost
                 else // rc lost countdown finished
+                {
                   MotorsOn = 0; // stop all motors
                   EmergencyLanding = 0; // emergency landing is over
+                }
                 ROT_ON; // set red led
                 if(Modell_Is_Flying > 2000)  // wahrscheinlich in der Luft --> langsam absenken
+                {
-                        ThrustMixingFraction = ParamSet.EmergencyThrust; // set emergency thrust
+                        ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust
                         EmergencyLanding = 1; // enable emergency landing
                         // set neutral rc inputs
                         PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
                         PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
                         PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
                         PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
                         PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;
+                }
                 else MotorsOn = 0; // switch of all motors
+        }
         else
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // RC-signal is good
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
         if(SenderOkay > 140)
+        {
                 EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay
                 // reset emergency timer
                 RcLostTimer = ParamSet.EmergencyThrustDuration * 50;
-                if(ThrustMixingFraction > 40)
+                if(ThrustMixFraction > 40)
+                {
                         if(Modell_Is_Flying < 0xFFFF) Modell_Is_Flying++;
+                }
-                if((Modell_Is_Flying < 200) || (ThrustMixingFraction < 40))
+                if((Modell_Is_Flying < 200) || (ThrustMixFraction < 40))
+                {
                         SumPitch = 0;
                         SumRoll = 0;
-                        Reading_IntegralYaw = 0;
+                        Reading_IntegralGyroYaw = 0;
-                        Reading_IntegralYaw2 = 0;
+                        Reading_IntegralGyroYaw2 = 0;
+                }
                 // if motors are off and the thrust stick is in the upper position
                 if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0)
+                {
                         // and if the yaw stick is in the leftmost position
                         if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // calibrate the neutral readings of all attitude sensors
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+                        {
                         if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
+                        {
                                 delay_neutral = 0;
                                 GRN_OFF;
                                 Modell_Is_Flying = 0;
                                 // check roll/pitch stick position
                                 // if pitch stick is topmost or roll stick is leftmost --> change parameter setting
                                 // according to roll/pitch stick position
                                 if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)
+                                {
                                          uint8_t setting = 1; // default
                                          //  _________
                                          // |2   3   4|
                                          // |         |
                                          // |1       5|
                                          // |         |
                                          // |_________|
                                          //
                                          // roll stick leftmost and pitch stick centered --> setting 1
                                          if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1;
                                          // roll stick leftmost and pitch stick topmost --> setting 2
                                          if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2;
                                          // roll stick centered an pitch stick topmost --> setting 3
                                          if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3;
                                          // roll stick rightmost and pitch stick topmost --> setting 4
                                          if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4;
                                          // roll stick rightmost and pitch stick centered --> setting 5
                                          if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5;
                                          // update active parameter set in eeprom
                                          SetActiveParamSet(setting);
+                                }
                                 ParamSet_ReadFromEEProm(GetActiveParamSet());
                                 SetNeutral();
                                 Beep(GetActiveParamSet());
+                                }
+                        }
                         // and if the yaw stick is in the rightmost position
                         // save the ACC neutral setting to eeprom
             else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
+                        {
                         if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
+                                {
                                 delay_neutral = 0;
                                 GRN_OFF;
                                 SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid
                                 Modell_Is_Flying = 0;
                                 SetNeutral();
                                 // Save ACC neutral settings to eeprom
                                 SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX);
                                 SetParamWord(PID_ACC_ROLL,  (uint16_t)NeutralAccY);
                                 SetParamWord(PID_ACC_Z,     (uint16_t)NeutralAccZ);
                                 Beep(GetActiveParamSet());
+                                }
+                        }
             else delay_neutral = 0;
+                }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // thrust stick is down
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                 if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85)
+                {
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // and yaw stick is rightmost --> start motors
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                         if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
+                        {
                                 if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
+                                {
                                         delay_startmotors = 200; // do not repeat if once executed
                                         Modell_Is_Flying = 1;
                                         MotorsOn = 1;
                                         SetPointYaw = 0;
-                                        Reading_IntegralYaw = 0;
+                                        Reading_IntegralGyroYaw = 0;
-                                        Reading_IntegralYaw2 = 0;
+                                        Reading_IntegralGyroYaw2 = 0;
-                                        Reading_IntegralPitch = 0;
+                                        Reading_IntegralGyroPitch = 0;
-                                        Reading_IntegralRoll = 0;
+                                        Reading_IntegralGyroRoll = 0;
-                                        Reading_IntegralPitch2 = IntegralPitch;
+                                        Reading_IntegralGyroPitch2 = IntegralPitch;
-                                        Reading_IntegralRoll2 = IntegralRoll;
+                                        Reading_IntegralGyroRoll2 = IntegralRoll;
                                         SumPitch = 0;
                                         SumRoll = 0;
+                                }
+                        }
                         else delay_startmotors = 0; // reset delay timer if sticks are not in this position
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // and yaw stick is leftmost --> stop motors
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                         if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
+                                {
                                 if(++delay_stopmotors > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
+                                {
                                         delay_stopmotors = 200; // do not repeat if once executed
                                         Modell_Is_Flying = 0;
                                         MotorsOn = 0;
+                                }
+                        }
                         else delay_stopmotors = 0; // reset delay timer if sticks are not in this position
+                        }
+                }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // new values from RC
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                 if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC
+                {
                         int tmp_int;
                         ParameterMapping(); // remapping params (online poti replacement)
                         // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
                         StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4;
                         StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D;
                         StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;
                         StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;
                         // direct mapping of yaw and thrust
                         StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];
                         StickThrust  = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers
-                        // update max stick positions for pitch and roll
+                        // update max stick positions for pitch, roll and yaw
                         if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch)
                                 MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]);
                         else MaxStickPitch--;
                         if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll)
                                 MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]);
                         else MaxStickRoll--;
+                        if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > MaxStickYaw)
+                                MaxStickYaw = abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]);
+                        else MaxStickYaw--;
                         // update gyro control loop factors
                         Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0;
                         Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000;
 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Digital Control via DubWise
 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                         #define KEY_VALUE (FCParam.UserParam1 * 4) // step width
                         if(DubWiseKeys[1]) BeepTime = 10;
                         if(DubWiseKeys[1] & DUB_KEY_UP)  tmp_int = KEY_VALUE;
                         else if(DubWiseKeys[1] & DUB_KEY_DOWN)  tmp_int = -KEY_VALUE;
                         else tmp_int = 0;
                         ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8;
                         if(DubWiseKeys[1] & DUB_KEY_LEFT)  tmp_int = KEY_VALUE;
                         else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE;
                         else tmp_int = 0;
                         ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;
                         if(DubWiseKeys[0] & 8)  ExternStickYaw = 50;else
                         if(DubWiseKeys[0] & 4)  ExternStickYaw =-50;else ExternStickYaw = 0;
                         if(DubWiseKeys[0] & 2)  ExternHightValue++;
                         if(DubWiseKeys[0] & 16) ExternHightValue--;
                         StickPitch += ExternStickPitch / 8;
                         StickRoll += ExternStickRoll / 8;
                         StickYaw += ExternStickYaw;
 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //+ Analoge Control via serial communication
 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                     if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128)
+                        {
                                  StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P;
                                  StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P;
                                  StickYaw += ExternControl.Yaw;
                                  ExternHightValue =  (int16_t) ExternControl.Hight * (int16_t)ParamSet.Hight_Gain;
                                  if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust;
+                        }
             // disable I part of gyro control feedback
                         if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor =  0;
                         // avoid negative scaling factors
                         if(Gyro_P_Factor < 0) Gyro_P_Factor = 0;
                         if(Gyro_I_Factor < 0) Gyro_I_Factor = 0;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Looping?
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                         if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT)  Looping_Left = 1;
                         else
+                        {
+                         {
                           if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0;
+                         }
+                        }
                         if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1;
                         else
+                        {
                         if(Looping_Right) // Hysterese
+                         {
                           if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0;
+                         }
+                        }
                         if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1;
                         else
+                        {
                         if(Looping_Top)  // Hysterese
+                         {
                           if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0;
+                         }
+                        }
                         if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1;
                         else
+                        {
                         if(Looping_Down) // Hysterese
+                         {
                           if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0;
+                         }
+                        }
                         if(Looping_Left || Looping_Right)   Looping_Roll = 1; else Looping_Roll = 0;
                         if(Looping_Top  || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0;
                 } // End of new RC-Values or Emergency Landing
                 if(Looping_Roll) BeepTime = 100;
                 if(Looping_Roll || Looping_Pitch)
+                {
-                if(ThrustMixingFraction > ParamSet.LoopThrustLimit) ThrustMixingFraction = ParamSet.LoopThrustLimit;
+                if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit;
+                }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // in case of emergency landing
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                 // set all inputs to save values
                 if(EmergencyLanding)
+                {
                         StickYaw = 0;
                         StickPitch = 0;
                         StickRoll = 0;
                         Gyro_P_Factor  = 0.5;
                         Gyro_I_Factor = 0.003;
                         Looping_Roll = 0;
                         Looping_Pitch = 0;
                         MaxStickPitch = 0;
                         MaxStickRoll = 0;
+                        MaxStickYaw = 0;
+                }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Trim Gyro-Integrals to ACC-Signals
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-                #define ABGLEICH_ANZAHL 256L
+                #define BALANCE_NUMBER 256L
+        // sum for averaging
-                MeanIntegralPitch  += IntegralPitch;    // sum for averaging
+                MeanIntegralPitch  += IntegralPitch;
-                MeanIntegralRoll  += IntegralRoll;
-                MeanIntegralPitch2 += IntegralPitch2;
-                MeanIntegralRoll2 += IntegralRoll2;
+                MeanIntegralRoll  += IntegralRoll;
                 if(Looping_Pitch || Looping_Roll) // if looping in any direction
+                {
+                        // reset averaging for acc and gyro integral as well as gyro integral acc correction
+                        MeasurementCounter = 0;
                         IntegralAccPitch = 0;
                         IntegralAccRoll = 0;
+                        IntegralAccZ = 0;
                         MeanIntegralPitch = 0;
                         MeanIntegralRoll = 0;
-                        MeanIntegralPitch2 = 0;
-                        MeanIntegralRoll2 = 0;
-                        Reading_IntegralPitch2 = Reading_IntegralPitch;
+                        Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch;
-                        Reading_IntegralRoll2 = Reading_IntegralRoll;
+                        Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
-                        ZaehlMessungen = 0;
                         AttitudeCorrectionPitch = 0;
                         AttitudeCorrectionRoll = 0;
+                }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                 if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction
+                {
                         int32_t tmp_long, tmp_long2;
-                        tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch);
+                        // determine the deviation of gyro integral from averaged acceleration sensor
-                        tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll);
+                        tmp_long   =  (int32_t)(IntegralPitch / ParamSet.GyroAccFaktor - (int32_t)Mean_AccPitch);
-                        tmp_long /= 16;
+                        tmp_long  /= 16;
+                        tmp_long2  = (int32_t)(IntegralRoll   / ParamSet.GyroAccFaktor - (int32_t)Mean_AccRoll);
                         tmp_long2 /= 16;
                         if((MaxStickPitch > 15) || (MaxStickRoll > 15))
+                        {
-                        tmp_long  /= 3;
+                                tmp_long  /= 3;
-                        tmp_long2 /= 3;
+                                tmp_long2 /= 3;
+                        }
-                        if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)
+                        if(MaxStickYaw > 25)
+                        {
-                        tmp_long  /= 3;
+                                tmp_long  /= 3;
-                        tmp_long2 /= 3;
+                                tmp_long2 /= 3;
+                        }
                         #define BALANCE 32
+                        // limit correction
                         if(tmp_long >  BALANCE)  tmp_long  = BALANCE;
                         if(tmp_long < -BALANCE)  tmp_long  =-BALANCE;
                         if(tmp_long2 > BALANCE)  tmp_long2 = BALANCE;
                         if(tmp_long2 <-BALANCE)  tmp_long2 =-BALANCE;
+                        // correct current readings
-                        Reading_IntegralPitch -= tmp_long;
+                        Reading_IntegralGyroPitch -= tmp_long;
-                        Reading_IntegralRoll -= tmp_long2;
+                        Reading_IntegralGyroRoll -= tmp_long2;
+                }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+        // MeasurementCounter is incremented in the isr of analog.c
+                if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached
+                {
+                        static int cnt = 0;
+                        static char last_n_p, last_n_n, last_r_p, last_r_n;
+                        static long MeanIntegralPitch_old, MeanIntegralRoll_old;
+                        // if not lopping in any direction (this should be alwais the case,
+                        // because the Measurement counter is reset to 0 if looping in any direction is active.)
+                        if(!Looping_Pitch && !Looping_Roll)
+                        {
+                                // Calculate mean value of the gyro integrals
+                                MeanIntegralPitch /= BALANCE_NUMBER;
+                                MeanIntegralRoll  /= BALANCE_NUMBER;
+                                // Calculate mean of the acceleration values
+                                IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / BALANCE_NUMBER;
+                                IntegralAccRoll  = (ParamSet.GyroAccFaktor * IntegralAccRoll ) / BALANCE_NUMBER;
+                                IntegralAccZ     = IntegralAccZ / BALANCE_NUMBER;
+                                // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++
+                                // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
+                                IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch);
+                                CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim;
+                                AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER;
+                                // Roll ++++++++++++++++++++++++++++++++++++++++++++++++
+                                // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
+                                IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll);
+                                CorrectionRoll  = IntegralErrorRoll / ParamSet.GyroAccTrim;
+                                AttitudeCorrectionRoll  = CorrectionRoll  / BALANCE_NUMBER;
- if(ZaehlMessungen >= ABGLEICH_ANZAHL)
+                                if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (MaxStickYaw > 25))
- {
+                                {
-  static int cnt = 0;
-  static char last_n_p,last_n_n,last_r_p,last_r_n;
-  static long MeanIntegralPitch_old,MeanIntegralRoll_old;
+                                        AttitudeCorrectionPitch /= 2;
-  if(!Looping_Pitch && !Looping_Roll)
+                                        AttitudeCorrectionRoll /= 2;
-  {
-    MeanIntegralPitch  /= ABGLEICH_ANZAHL;
-    MeanIntegralRoll  /= ABGLEICH_ANZAHL;
-        IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / ABGLEICH_ANZAHL;
-        IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
-    IntegralAccZ    = IntegralAccZ / ABGLEICH_ANZAHL;
-#define MAX_I 0//(Poti2/10)
-// Pitch ++++++++++++++++++++++++++++++++++++++++++++++++
-    IntegralErrorPitch = (long)(MeanIntegralPitch - (long)IntegralAccPitch);
-    CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim;
-// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
-    IntegralErrorRoll = (long)(MeanIntegralRoll - (long)IntegralAccRoll);
+                                }
+                // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+                // Gyro-Drift ermitteln
+                // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+                                // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor)
+                                IntegralErrorPitch  = IntegralPitch2 - IntegralPitch;
+                                Reading_IntegralGyroPitch2 -= IntegralErrorPitch;
+                                // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor)
+                                IntegralErrorRoll = IntegralRoll2 - IntegralRoll;
+                                Reading_IntegralGyroRoll2 -= IntegralErrorRoll;
+                                DebugOut.Analog[17] = IntegralAccPitch / 26;
+                                DebugOut.Analog[18] = IntegralAccRoll / 26;
+                                DebugOut.Analog[19] = IntegralErrorPitch;// / 26;
+                                DebugOut.Analog[20] = IntegralErrorRoll;// / 26;
+                                DebugOut.Analog[21] = MeanIntegralPitch / 26;
+                                DebugOut.Analog[22] = MeanIntegralRoll / 26;
+                                //DebugOut.Analog[28] = CorrectionPitch;
+                                DebugOut.Analog[29] = CorrectionRoll;
+                                DebugOut.Analog[30] = AttitudeCorrectionRoll * 10;
+                                #define ERROR_LIMIT  (BALANCE_NUMBER * 4)
+                                #define ERROR_LIMIT2 (BALANCE_NUMBER * 16)
+                                #define MOVEMENT_LIMIT 20000
+                // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++
+                                cnt = 1;// + labs(IntegralErrorPitch) / 4096;
+                                CorrectionPitch = 0;
+                                if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT)
+                                {
+                                        if(IntegralErrorPitch >  ERROR_LIMIT2)
+                                        {
+                                                if(last_n_p)
+                                                {
+                                                        cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2;
+                                                        CorrectionPitch = IntegralErrorPitch / 8;
+                                                        if(CorrectionPitch > 5000) CorrectionPitch = 5000;
+                                                        AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER;
+                                                }
+                                                else last_n_p = 1;
+                                        }
+                                        else  last_n_p = 0;
+                                        if(IntegralErrorPitch < -ERROR_LIMIT2)
+                                        {
+                                                if(last_n_n)
+                                                {
+                                                        cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2;
-    CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim;
+                                                        CorrectionPitch = IntegralErrorPitch / 8;
+                                                        if(CorrectionPitch < -5000) CorrectionPitch = -5000;
+                                                        AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER;
+                                                }
+                                                else last_n_n = 1;
+                                        }
+                                        else  last_n_n = 0;
+                                }
+                                else cnt = 0;
+                                if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
+                                // correct Gyro Offsets
+                                if(IntegralErrorPitch >  ERROR_LIMIT)   AdNeutralPitch += cnt;
+                                if(IntegralErrorPitch < -ERROR_LIMIT)   AdNeutralPitch -= cnt;
+                // Roll +++++++++++++++++++++++++++++++++++++++++++++++++
+                                cnt = 1;// + labs(IntegralErrorPitch) / 4096;
+                                CorrectionRoll = 0;
+                                if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT)
+                                {
+                                        if(IntegralErrorRoll >  ERROR_LIMIT2)
+                                        {
+                                                if(last_r_p)
+                                                {
+                                                        cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
+                                                        CorrectionRoll = IntegralErrorRoll / 8;
+                                                        if(CorrectionRoll > 5000) CorrectionRoll = 5000;
+                                                        AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
+                                                }
+                                                else last_r_p = 1;
+                                        }
+                                        else  last_r_p = 0;
+                                        if(IntegralErrorRoll < -ERROR_LIMIT2)
+                                        {
+                                                if(last_r_n)
+                                                {
+                                                        cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
+                                                        CorrectionRoll = IntegralErrorRoll / 8;
+                                                        if(CorrectionRoll < -5000) CorrectionRoll = -5000;
+                                                        AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
+                                                }
+                                                else last_r_n = 1;
+                                        }
+                                        else  last_r_n = 0;
+                                }
+                                else cnt = 0;
+                                // correct Gyro Offsets
+                                if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
+                                if(IntegralErrorRoll >  ERROR_LIMIT)   AdNeutralRoll += cnt;
+                                if(IntegralErrorRoll < -ERROR_LIMIT)   AdNeutralRoll -= cnt;
+                                DebugOut.Analog[27] = CorrectionRoll;
+                                DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch);
+                                DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
+                        }
+                        else // looping is active
+                        {
+                                AttitudeCorrectionRoll  = 0;
+                                AttitudeCorrectionPitch = 0;
+                        }
+                        // if Gyro_I_Faktor == 0 , for example at Heading Hold, ignore attitude correction
+                        if(!Gyro_I_Factor)
+                        {
+                                AttitudeCorrectionRoll  = 0;
+                                AttitudeCorrectionPitch = 0;
+                        }
+                // +++++++++++++++++++++++++++++++++++++++++++++++++++++
+                        MeanIntegralPitch_old = MeanIntegralPitch;
+                        MeanIntegralRoll_old  = MeanIntegralRoll;
+                // +++++++++++++++++++++++++++++++++++++++++++++++++++++
+                        // reset variables used for averaging
+                        IntegralAccPitch = 0;
+                        IntegralAccRoll = 0;
+                        IntegralAccZ = 0;
+                        MeanIntegralPitch = 0;
+                        MeanIntegralRoll = 0;
-    AttitudeCorrectionPitch = CorrectionPitch / ABGLEICH_ANZAHL;
-    AttitudeCorrectionRoll = CorrectionRoll / ABGLEICH_ANZAHL;
-   if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25))
-    {
-     AttitudeCorrectionPitch /= 2;
+                        MeasurementCounter = 0;
-     AttitudeCorrectionPitch /= 2;
+                } // end of averaging
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// Gyro-Drift ermitteln
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    MeanIntegralPitch2 /= ABGLEICH_ANZAHL;
-    MeanIntegralRoll2 /= ABGLEICH_ANZAHL;
-    tmp_long  = IntegralPitch2 - IntegralPitch;
-    tmp_long2 = IntegralRoll2 - IntegralRoll;
-    //DebugOut.Analog[25] = MeanIntegralRoll2 / 26;
-    IntegralErrorPitch = tmp_long;
-    IntegralErrorRoll = tmp_long2;
-    Reading_IntegralPitch2 -= IntegralErrorPitch;
-    Reading_IntegralRoll2 -= IntegralErrorRoll;
-//    IntegralErrorPitch = (IntegralErrorPitch * 1 + tmp_long) / 2;
-//    IntegralErrorRoll = (IntegralErrorRoll * 1 + tmp_long2) / 2;
-DebugOut.Analog[17] = IntegralAccPitch / 26;
-DebugOut.Analog[18] = IntegralAccRoll / 26;
-DebugOut.Analog[19] = IntegralErrorPitch;// / 26;
-DebugOut.Analog[20] = IntegralErrorRoll;// / 26;
-DebugOut.Analog[21] = MeanIntegralPitch / 26;
-DebugOut.Analog[22] = MeanIntegralRoll / 26;
-//DebugOut.Analog[28] = CorrectionPitch;
-DebugOut.Analog[29] = CorrectionRoll;
-DebugOut.Analog[30] = AttitudeCorrectionRoll * 10;
-#define FEHLER_LIMIT  (ABGLEICH_ANZAHL * 4)
-#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16)
-#define BEWEGUNGS_LIMIT 20000
-// Pitch +++++++++++++++++++++++++++++++++++++++++++++++++
-        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
-        if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < BEWEGUNGS_LIMIT)
-        {
-        if(IntegralErrorPitch >  FEHLER_LIMIT2)
-         {
-           if(last_n_p)
-           {
-            cnt += labs(IntegralErrorPitch) / FEHLER_LIMIT2;
-            CorrectionPitch = IntegralErrorPitch / 8;
-            if(CorrectionPitch > 5000) CorrectionPitch = 5000;
-            AttitudeCorrectionPitch += CorrectionPitch / ABGLEICH_ANZAHL;
-           }
-           else last_n_p = 1;
-         } else  last_n_p = 0;
-        if(IntegralErrorPitch < -FEHLER_LIMIT2)
-         {
-           if(last_n_n)
-            {
-             cnt += labs(IntegralErrorPitch) / FEHLER_LIMIT2;
-             CorrectionPitch = IntegralErrorPitch / 8;
-             if(CorrectionPitch < -5000) CorrectionPitch = -5000;
-             AttitudeCorrectionPitch += CorrectionPitch / ABGLEICH_ANZAHL;
-            }
-           else last_n_n = 1;
-         } else  last_n_n = 0;
-        } else cnt = 0;
-        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
-        if(IntegralErrorPitch >  FEHLER_LIMIT)   AdNeutralPitch += cnt;
-        if(IntegralErrorPitch < -FEHLER_LIMIT)   AdNeutralPitch -= cnt;
-// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
-        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
-        CorrectionRoll = 0;
-        if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < BEWEGUNGS_LIMIT)
-        {
-        if(IntegralErrorRoll >  FEHLER_LIMIT2)
-         {
-           if(last_r_p)
-           {
-            cnt += labs(IntegralErrorRoll) / FEHLER_LIMIT2;
-            CorrectionRoll = IntegralErrorRoll / 8;
-            if(CorrectionRoll > 5000) CorrectionRoll = 5000;
-            AttitudeCorrectionRoll += CorrectionRoll / ABGLEICH_ANZAHL;
-           }
-           else last_r_p = 1;
-         } else  last_r_p = 0;
-        if(IntegralErrorRoll < -FEHLER_LIMIT2)
-         {
-           if(last_r_n)
-           {
-            cnt += labs(IntegralErrorRoll) / FEHLER_LIMIT2;
-            CorrectionRoll = IntegralErrorRoll / 8;
-            if(CorrectionRoll < -5000) CorrectionRoll = -5000;
-            AttitudeCorrectionRoll += CorrectionRoll / ABGLEICH_ANZAHL;
-           }
-           else last_r_n = 1;
-         } else  last_r_n = 0;
-        } else
-        {
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-         cnt = 0;
-        }
+//  Yawing
-        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
-        if(IntegralErrorRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
-        if(IntegralErrorRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
-DebugOut.Analog[27] = CorrectionRoll;
-DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch);
-DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
-  }
-  else
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-  {
-   AttitudeCorrectionRoll = 0;
-   AttitudeCorrectionPitch = 0;
-  }
-  if(!Gyro_I_Factor) { AttitudeCorrectionRoll = 0; AttitudeCorrectionPitch = 0;} // z.B. bei HH
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++
-   MeanIntegralPitch_old = MeanIntegralPitch;
-   MeanIntegralRoll_old = MeanIntegralRoll;
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++
-    IntegralAccPitch = 0;
-    IntegralAccRoll = 0;
-    IntegralAccZ = 0;
-    MeanIntegralPitch = 0;
-    MeanIntegralRoll = 0;
-    MeanIntegralPitch2 = 0;
+                if(MaxStickYaw > 20) // yaw stick is activated
-    MeanIntegralRoll2 = 0;
-    ZaehlMessungen = 0;
- }
-//DebugOut.Analog[31] = StickRoll / (26*Gyro_I_Factor);
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-//  Gieren
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    if(abs(StickYaw) > 20) // war 35
+                {   // if not fixed compass course is set update compass course
-     {
+                        if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1;
-      if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1;
+                }
-     }
+                // exponential stick sensitivity in yawring rate
+                tmp_int  = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo  y = ax + bx²
-    tmp_int  = (long) ParamSet.Yaw_P * ((long)StickYaw * abs(StickYaw)) / 512L; // expo  y = ax + bx²
+                tmp_int += (ParamSet.Yaw_P * StickYaw) / 4;
-    tmp_int += (ParamSet.Yaw_P * StickYaw) / 4;
+                SetPointYaw = tmp_int;
-    SetPointYaw = tmp_int;
+                Reading_IntegralGyroYaw -= tmp_int;
-    Reading_IntegralYaw -= tmp_int;
+                // limit the effect
-    if(Reading_IntegralYaw > 50000) Reading_IntegralYaw = 50000;  // begrenzen
+                if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000;
-    if(Reading_IntegralYaw <-50000) Reading_IntegralYaw =-50000;
+                if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-//  Kompass
+//  Compass
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)
+                if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)
-    {
+                {
-        int w,v;
+                        int16_t w,v;
-            static uint8_t updCompass = 0;
-                if (!updCompass--)              // Aufruf mit ~10 Hz
-                {
-                        CompassHeading = MM3_heading(); // get current compass reading
-                        CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180;
-                        updCompass = 50;
-                }
+                        static uint8_t updCompass = 0;
-        w = abs(IntegralPitch /512); // mit zunehmender Neigung den Einfluss drosseln
-        v = abs(IntegralRoll /512);
-        if(v > w) w = v; // grösste Neigung ermitteln
-        if(w < 35 && StoreNewCompassCourse)
-         {
-          CompassCourse = CompassHeading;
-          StoreNewCompassCourse = 0;
+                        if (!updCompass--)
-         }
-        w = (w * FCParam.CompassYawEffect) / 64;           // auf die Wirkung normieren
-        w = FCParam.CompassYawEffect - w;                  // Wirkung ggf drosseln
+                        {
+                                updCompass = 49; // update only at 2ms*50 = 100ms (10Hz)
+                                // get current compass heading (angule between MK head and magnetic north)
+                                CompassHeading = MM3_heading();
+                                // calculate OffCourse (angular deviation from heading to course)
+                                CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180;
+                        }
+                        // reduce compass effect with increasing declination
+                        w = abs(IntegralPitch / 512);
+                        v = abs(IntegralRoll  / 512);
+                        if(v > w) w = v; // get maximum declination
+                        // if declination is small enough update compass course if neccessary
+                        if(w < 35 && StoreNewCompassCourse)
+                        {
+                                CompassCourse = CompassHeading;
+                                StoreNewCompassCourse = 0;
+                        }
-        if(w > 0)
+                        w = (w * FCParam.CompassYawEffect) / 64;  // scale to parameter
                         w = FCParam.CompassYawEffect - w; // reduce commpass effect with increasing declination
-                        Reading_IntegralYaw -= (CompassOffCourse * w) / 32;  // nach Kompass ausrichten
+                        if(w > 0) // if there is any compass effect (avoid negative compass feedback)
+                        {
                                 Reading_IntegralGyroYaw -= (CompassOffCourse * w) / 32;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+                }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //  Debugwerte zuordnen
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-  if(!TimerDebugOut--)
+                if(!TimerDebugOut--)
-   {
+                {
-    TimerDebugOut = 24;
+                        TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz)
-    DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor;
+                        DebugOut.Analog[0]  = IntegralPitch / ParamSet.GyroAccFaktor;
-    DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor;
+                        DebugOut.Analog[1]  = IntegralRoll / ParamSet.GyroAccFaktor;
-    DebugOut.Analog[2] = Mean_AccPitch;
+                        DebugOut.Analog[2]  = Mean_AccPitch;
-    DebugOut.Analog[3] = Mean_AccRoll;
+                        DebugOut.Analog[3]  = Mean_AccRoll;
-    DebugOut.Analog[4] = ReadingYaw;
+                        DebugOut.Analog[4]  = Reading_GyroYaw;
-    DebugOut.Analog[5] = ReadingHight;
+                        DebugOut.Analog[5]  = ReadingHight;
-    DebugOut.Analog[6] = (Reading_Integral_Top / 512);
+                        DebugOut.Analog[6]  = (Reading_Integral_Top / 512);
-    DebugOut.Analog[8] = CompassHeading;
+                        DebugOut.Analog[8]  = CompassHeading;
-    DebugOut.Analog[9] = UBat;
+                        DebugOut.Analog[9]  = UBat;
-    DebugOut.Analog[10] = SenderOkay;
+                        DebugOut.Analog[10] = SenderOkay;
-    DebugOut.Analog[16] = Mean_AccTop;
+                        DebugOut.Analog[16] = Mean_AccTop;
-/*    DebugOut.Analog[16] = motor_rx[0];
+                        /*    DebugOut.Analog[16] = motor_rx[0];
-    DebugOut.Analog[17] = motor_rx[1];
+                        DebugOut.Analog[17] = motor_rx[1];
-    DebugOut.Analog[18] = motor_rx[2];
+                        DebugOut.Analog[18] = motor_rx[2];
-    DebugOut.Analog[19] = motor_rx[3];
+                        DebugOut.Analog[19] = motor_rx[3];
-    DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3];
+                        DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3];
-    DebugOut.Analog[20] /= 14;
+                        DebugOut.Analog[20] /= 14;
-    DebugOut.Analog[21] = motor_rx[4];
+                        DebugOut.Analog[21] = motor_rx[4];
-    DebugOut.Analog[22] = motor_rx[5];
+                        DebugOut.Analog[22] = motor_rx[5];
-    DebugOut.Analog[23] = motor_rx[6];
+                        DebugOut.Analog[23] = motor_rx[6];
-    DebugOut.Analog[24] = motor_rx[7];
+                        DebugOut.Analog[24] = motor_rx[7];
-    DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
+                        DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
-*/
-//    DebugOut.Analog[9] = ReadingPitch;
+                        DebugOut.Analog[9]  = Reading_GyroPitch;
-//    DebugOut.Analog[9] = SetPointHight;
+                        DebugOut.Analog[9]  = SetPointHight;
-//    DebugOut.Analog[10] = Reading_IntegralYaw / 128;
+                        DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128;
-//    DebugOut.Analog[11] = CompassCourse;
+                        DebugOut.Analog[11] = CompassCourse;
-//    DebugOut.Analog[10] = FCParam.Gyro_I;
+                        DebugOut.Analog[10] = FCParam.Gyro_I;
-//    DebugOut.Analog[10] = ParamSet.Gyro_I;
+                        DebugOut.Analog[10] = ParamSet.Gyro_I;
-//    DebugOut.Analog[9] = CompassOffCourse;
+                        DebugOut.Analog[9]  = CompassOffCourse;
-//    DebugOut.Analog[10] = ThrustMixingFraction;
+                        DebugOut.Analog[10] = ThrustMixFraction;
-//    DebugOut.Analog[3] = HightD * 32;
+                        DebugOut.Analog[3]  = HightD * 32;
-//    DebugOut.Analog[4] = hoehenregler;
+                        DebugOut.Analog[4]  = HightControlThrust;
-  }
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-//  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-//DebugOut.Analog[26] = ReadingPitch;
-//DebugOut.Analog[28] = ReadingRoll;
-    if(Looping_Pitch) ReadingPitch = ReadingPitch * Gyro_P_Factor;
-    else             ReadingPitch = IntegralPitch * Gyro_I_Factor + ReadingPitch * Gyro_P_Factor;
-    if(Looping_Roll) ReadingRoll = ReadingRoll * Gyro_P_Factor;
-    else             ReadingRoll = IntegralRoll * Gyro_I_Factor + ReadingRoll * Gyro_P_Factor;
-    ReadingYaw = ReadingYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2;
-DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor;
-DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor);
-DebugOut.Analog[28] = ReadingRoll;
-    // Maximalwerte abfangen
-    #define MAX_SENSOR  2048
-    if(ReadingPitch >  MAX_SENSOR) ReadingPitch =  MAX_SENSOR;
-    if(ReadingPitch < -MAX_SENSOR) ReadingPitch = -MAX_SENSOR;
-    if(ReadingRoll >  MAX_SENSOR) ReadingRoll =  MAX_SENSOR;
-    if(ReadingRoll < -MAX_SENSOR) ReadingRoll = -MAX_SENSOR;
-    if(ReadingYaw >  MAX_SENSOR) ReadingYaw =  MAX_SENSOR;
-    if(ReadingYaw < -MAX_SENSOR) ReadingYaw = -MAX_SENSOR;
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// Höhenregelung
-// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-//OCR0B = 180 - (Poti1 + 120) / 4;
-//DruckOffsetSetting = OCR0B;
- if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Höhenregelung
-  {
-    int tmp_int;
-    if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH)  // Regler wird über Schalter gesteuert
-    {
-     if(FCParam.MaxHight < 50)
-      {
-       SetPointHight = ReadingHight - 20;  // FCParam.MaxHight ist der PPM-Wert des Schalters
-       HightControlActive = 0;
-      }
-      else
-        HightControlActive = 1;
-    }
-    else
-    {
+                        */
-     SetPointHight = ((int) ExternHightValue + (int) FCParam.MaxHight) * (int)ParamSet.Hight_Gain - 20;
-     HightControlActive = 1;
-    }
+                }
-    if(EmergencyLanding) SetPointHight = 0;
-    h = ReadingHight;
-    if((h > SetPointHight) && HightControlActive)      // zu hoch --> drosseln
-     {      h = ((h - SetPointHight) * (int) FCParam.Hight_P) / 16; // Differenz bestimmen --> P-Anteil
-      h = ThrustMixingFraction - h;         // vom Gas abziehen
-      h -= (HightD * FCParam.AirPressure_D)/8;    // D-Anteil
-      tmp_int = ((Reading_Integral_Top / 512) * (signed long) FCParam.Hight_ACC_Effect) / 32;
-      if(tmp_int > 50) tmp_int = 50;
-      else if(tmp_int < -50) tmp_int = -50;
-      h -= tmp_int;
-      hoehenregler = (hoehenregler*15 + h) / 16;
-      if(hoehenregler < ParamSet.Hight_MinThrust) // nicht unter MIN
-       {
-         if(ThrustMixingFraction >= ParamSet.Hight_MinThrust) hoehenregler = ParamSet.Hight_MinThrust;
-         if(ThrustMixingFraction < ParamSet.Hight_MinThrust) hoehenregler = ThrustMixingFraction;
-       }
-      if(hoehenregler > ThrustMixingFraction) hoehenregler = ThrustMixingFraction; // nicht mehr als Gas
-      ThrustMixingFraction = hoehenregler;
-     }
-  }
   if(ThrustMixingFraction > ParamSet.Trust_Max - 20) ThrustMixingFraction = ParamSet.Trust_Max - 20;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// + Mischer und PI-Regler
+//  calculate control feedback from angle (gyro integral) and agular velocity (gyro signal)
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+                if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor;
+                else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor;
+                if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor;
+                else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor;
+                Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2;
+                DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor;
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+                DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor);
+                DebugOut.Analog[28] = Reading_GyroRoll;
+                // limit control feedback
+                #define MAX_SENSOR  2048
+                if(Reading_GyroPitch >  MAX_SENSOR) Reading_GyroPitch =  MAX_SENSOR;
+                if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR;
+                if(Reading_GyroRoll  >  MAX_SENSOR) Reading_GyroRoll  =  MAX_SENSOR;
+                if(Reading_GyroRoll  < -MAX_SENSOR) Reading_GyroRoll  = -MAX_SENSOR;
+                if(Reading_GyroYaw   >  MAX_SENSOR) Reading_GyroYaw   =  MAX_SENSOR;
+                if(Reading_GyroYaw   < -MAX_SENSOR) Reading_GyroYaw   = -MAX_SENSOR;
   DebugOut.Analog[7] = ThrustMixingFraction;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Hight Control
-// Gier-Anteil
+// The higth control algorithm reduces the thrust but does not increas the thrust.
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+                // If hight control is activated and no emergency landing is activre
+                if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) )
-// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+                {
+                        int tmp_int;
+                        // if hight control is activated by an rc channel
+                        if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH)
+                        {       // check if parameter is less than activation threshold
+                                if(FCParam.MaxHight < 50)
-#define MUL_G  1.0
+                                {
+                                        SetPointHight = ReadingHight - 20;  // update SetPoint with current reading
+                                        HightControlActive = 0; // disable hight control
+                                }
+                                else HightControlActive = 1; // enable hight control
+                        }
+                        else // no switchable hight control
+                        {
-    YawMixingFraction = ReadingYaw - SetPointYaw;     // Regler für Gier
+                                SetPointHight = ((int16_t) ExternHightValue + (int16_t) FCParam.MaxHight) * (int16_t)ParamSet.Hight_Gain - 20;
+                                HightControlActive = 1;
+                        }
+                        // get current hight
+                        h = ReadingHight;
+                        // if current hight is above the setpoint reduce thrust
-// YawMixingFraction = 0;
+                        if((h > SetPointHight) && HightControlActive)
+                        {
+                                // hight difference -> P control part
+                                h = ((h - SetPointHight) * (int16_t) FCParam.Hight_P) / 16;
+                                h = ThrustMixFraction - h; // reduce gas
+                                // higth gradient --> D control part
+                                h -= (HightD * FCParam.Hight_D) / 8;  // D control part
+                                // acceleration sensor effect
+                                tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Hight_ACC_Effect) / 32;
+                                if(tmp_int > 50) tmp_int = 50;
+                                if(tmp_int < -50) tmp_int = -50;
+                                h -= tmp_int;
+                                // update hight control thrust
+                                HightControlThrust = (HightControlThrust*15 + h) / 16;
+                                // limit thrust reduction
+                                if(HightControlThrust < ParamSet.Hight_MinThrust)
+                                {
+                                        if(ThrustMixFraction >= ParamSet.Hight_MinThrust) HightControlThrust = ParamSet.Hight_MinThrust;
-    if(YawMixingFraction > (ThrustMixingFraction / 2)) YawMixingFraction = ThrustMixingFraction / 2;
+                                        // allows landing also if thrust stick is reduced below min thrust on hight control
+                                        if(ThrustMixFraction < ParamSet.Hight_MinThrust) HightControlThrust = ThrustMixFraction;
+                                }
-    if(YawMixingFraction < -(ThrustMixingFraction / 2)) YawMixingFraction = -(ThrustMixingFraction / 2);
+                                // limit thrust to stick setting
+                                if(HightControlThrust > ThrustMixFraction) HightControlThrust = ThrustMixFraction;
+                                ThrustMixFraction = HightControlThrust;
+                        }
+                }
-    if(YawMixingFraction > ((ParamSet.Trust_Max - ThrustMixingFraction))) YawMixingFraction = ((ParamSet.Trust_Max - ThrustMixingFraction));
+                // limit thrust to parameter setting
+                if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20;
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// + Mixer and PI-Controller
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+                DebugOut.Analog[7] = ThrustMixFraction;
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+// Yaw-Fraction
+// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    YawMixFraction = Reading_GyroYaw - SetPointYaw;     // yaw controller
+        // limit YawMixFraction
+    if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2;
+    if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2);
-    if(YawMixingFraction < -((ParamSet.Trust_Max - ThrustMixingFraction))) YawMixingFraction = -((ParamSet.Trust_Max - ThrustMixingFraction));
+    if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction));
     if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction));
-    if(ThrustMixingFraction < 20) YawMixingFraction = 0;
+    if(ThrustMixFraction < 20) YawMixFraction = 0;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// Pitch-Achse
+// Pitch-Axis
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    DiffPitch = ReadingPitch - (StickPitch - GPS_Pitch);        // Differenz bestimmen
+    DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch);   // get difference
-    if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-Anteil bei Winkelregelung
+    if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control
-    else  SumPitch += DiffPitch; // I-Anteil bei HH
+    else SumPitch += DiffPitch; // I-part for head holding
     if(SumPitch >  16000) SumPitch =  16000;
-    if(SumPitch < -16000) SumPitch = -16000;
-    pd_ergebnis = DiffPitch + Ki * SumPitch; // PI-Regler für Pitch
-    // Motor Vorn
-    tmp_int = (long)((long)FCParam.DynamicStability * (long)(ThrustMixingFraction + abs(YawMixingFraction)/2)) / 64;
+    if(SumPitch < -16000) SumPitch = -16000;
+    pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch
+    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
+    if(pd_result >  tmp_int) pd_result =  tmp_int;
-    if(pd_ergebnis >  tmp_int) pd_ergebnis =  tmp_int;
+    if(pd_result < -tmp_int) pd_result = -tmp_int;
     if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int;
         // Motor Front
-    MotorValue = ThrustMixingFraction + pd_ergebnis + YawMixingFraction;          // Mischer
+    MotorValue = ThrustMixFraction + pd_result + YawMixFraction;          // Mixer
         if ((MotorValue < 0)) MotorValue = 0;
         else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
         if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
         Motor_Front = MotorValue;
-    // Motor Heck
+ // Motor Rear
-        MotorValue = ThrustMixingFraction - pd_ergebnis + YawMixingFraction;
+        MotorValue = ThrustMixFraction - pd_result + YawMixFraction;     // Mixer
         if ((MotorValue < 0)) MotorValue = 0;
         else if(MotorValue > ParamSet.Trust_Max)            MotorValue = ParamSet.Trust_Max;
         if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
         Motor_Rear = MotorValue;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// Roll-Achse
+// Roll-Axis
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-        DiffRoll = ReadingRoll - (StickRoll  - GPS_Roll);       // Differenz bestimmen
+        DiffRoll = Reading_GyroRoll - (StickRoll  - GPS_Roll);  // get difference
-    if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll  - GPS_Roll);// I-Anteil bei Winkelregelung
+    if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll  - GPS_Roll); // I-part for attitude control
-    else                 SumRoll += DiffRoll;  // I-Anteil bei HH
+    else SumRoll += DiffRoll;  // I-part for head holding
     if(SumRoll >  16000) SumRoll =  16000;
     if(SumRoll < -16000) SumRoll = -16000;
-    pd_ergebnis = DiffRoll + Ki * SumRoll;      // PI-Regler für Roll
+    pd_result = DiffRoll + Ki * SumRoll;         // PI-controller for roll
-    tmp_int = (long)((long)FCParam.DynamicStability * (long)(ThrustMixingFraction + abs(YawMixingFraction)/2)) / 64;
+    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64;
-    if(pd_ergebnis >  tmp_int) pd_ergebnis =  tmp_int;
+    if(pd_result >  tmp_int) pd_result =  tmp_int;
-    if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int;
+    if(pd_result < -tmp_int) pd_result = -tmp_int;
-    // Motor Links
-    MotorValue = ThrustMixingFraction + pd_ergebnis - YawMixingFraction;
-#define GRENZE Poti1
+    // Motor Left
     MotorValue = ThrustMixFraction + pd_result - YawMixFraction;  // Mixer
         if ((MotorValue < 0)) MotorValue = 0;
         else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
         if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
     Motor_Left = MotorValue;
-    // Motor Rechts
-        MotorValue = ThrustMixingFraction - pd_ergebnis - YawMixingFraction;
+ // Motor Right
         MotorValue = ThrustMixFraction - pd_result - YawMixFraction;  // Mixer
         if ((MotorValue < 0)) MotorValue = 0;
         else if(MotorValue > ParamSet.Trust_Max)                MotorValue = ParamSet.Trust_Max;
         if (MotorValue < ParamSet.Trust_Min)            MotorValue = ParamSet.Trust_Min;
     Motor_Right = MotorValue;
-   // +++++++++++++++++++++++++++++++++++++++++++++++
+}

Subversion Repositories FlightCtrl

(root)/branches/V0.68d CRK HexaLotte/fc.c @ 1247 - Rev 707 → 711