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