Subversion Repositories FlightCtrl

Rev

Rev 741 | Rev 746 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

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