Rev 1639 | Rev 1643 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1639 | Rev 1642 | ||
|---|---|---|---|
| Line 627... | Line 627... | ||
| 627 | static long IntegralFehlerRoll = 0; |
627 | static long IntegralFehlerRoll = 0; |
| 628 | static unsigned int RcLostTimer; |
628 | static unsigned int RcLostTimer; |
| 629 | static unsigned char delay_neutral = 0; |
629 | static unsigned char delay_neutral = 0; |
| 630 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
630 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| 631 | static unsigned char calibration_done = 0; |
631 | static unsigned char calibration_done = 0; |
| 632 | static char TimerWerteausgabe = 0; |
- | |
| 633 | static char NeueKompassRichtungMerken = 0; |
632 | static char NeueKompassRichtungMerken = 0; |
| 634 | static long ausgleichNick, ausgleichRoll; |
633 | static long ausgleichNick, ausgleichRoll; |
| 635 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
634 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 636 | unsigned char i; |
635 | unsigned char i; |
| 637 | Mittelwert(); |
636 | Mittelwert(); |
| Line 1654... | Line 1653... | ||
| 1654 | tmp_int = tmp_motorwert[i] / 4; |
1653 | tmp_int = tmp_motorwert[i] / 4; |
| 1655 | Motor[i].SetPointLowerBits = tmp_motorwert[i] % 4; |
1654 | Motor[i].SetPointLowerBits = tmp_motorwert[i] % 4; |
| 1656 | LIMIT_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
1655 | LIMIT_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
| 1657 | Motor[i].SetPoint = tmp_int; |
1656 | Motor[i].SetPoint = tmp_int; |
| 1658 | } |
1657 | } |
| - | 1658 | else |
|
| - | 1659 | { |
|
| 1659 | else Motor[i].SetPoint = 0; |
1660 | Motor[i].SetPoint = 0; |
| - | 1661 | Motor[i].SetPointLowerBits = 0; |
|
| - | 1662 | } |
|
| 1660 | } |
1663 | } |
| 1661 | } |
1664 | } |