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