Rev 1419 | Rev 1423 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1419 | Rev 1420 | ||
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Line 385... | Line 385... | ||
385 | else TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
385 | else TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
386 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
386 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
387 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
387 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
388 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
388 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
389 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
389 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
390 | if(NaviDataOkay) |
- | |
391 | { |
- | |
392 | if(--NaviDataOkay == 0) |
- | |
393 | { |
- | |
394 | GPS_Nick = 0; |
- | |
395 | GPS_Roll = 0; |
- | |
396 | } |
- | |
397 | } |
- | |
Line 398... | Line 390... | ||
398 | 390 | ||
399 | if(!--I2CTimeout || MissingMotor) |
391 | if(!--I2CTimeout || MissingMotor) |
400 | { |
392 | { |
401 | if(!I2CTimeout) |
393 | if(!I2CTimeout) |
Line 424... | Line 416... | ||
424 | 416 | ||
425 | 417 | ||
Line 426... | Line 418... | ||
426 | if(CheckDelay(timer)) |
418 | if(CheckDelay(timer)) |
427 | { |
- | |
428 | - | ||
Line 429... | Line 419... | ||
429 | timer += 20; |
419 | { |
430 | 420 | ||
431 | 421 | timer += 20; // 20 ms interval |
|
432 | 422 | ||
Line 441... | Line 431... | ||
441 | { |
431 | { |
442 | beeptime = 15000; |
432 | beeptime = 15000; |
443 | BeepMuster = 0x0c00; |
433 | BeepMuster = 0x0c00; |
444 | } |
434 | } |
445 | } |
435 | } |
- | 436 | if(NaviDataOkay) |
|
- | 437 | { |
|
- | 438 | NaviDataOkay--; |
|
- | 439 | FCFlags &= ~FCFLAG_SPI_RX_ERR; |
|
- | 440 | } |
|
- | 441 | else |
|
- | 442 | { |
|
- | 443 | GPS_Nick = 0; |
|
- | 444 | GPS_Roll = 0; |
|
- | 445 | FCFlags |= FCFLAG_SPI_RX_ERR; |
|
- | 446 | } |
|
446 | if(UBat < BattLowVoltageWarning) |
447 | if(UBat < BattLowVoltageWarning) |
447 | { |
448 | { |
448 | MikroKopterFlags |= FLAG_LOWBAT; |
449 | FCFlags |= FCFLAG_LOWBAT; |
449 | if(BeepMuster == 0xffff) |
450 | if(BeepMuster == 0xffff) |
450 | { |
451 | { |
451 | beeptime = 6000; |
452 | beeptime = 6000; |
452 | BeepMuster = 0x0300; |
453 | BeepMuster = 0x0300; |
453 | } |
454 | } |
454 | } |
455 | } |
455 | else MikroKopterFlags &= ~FLAG_LOWBAT; |
456 | else FCFlags &= ~FCFLAG_LOWBAT; |
Line 456... | Line 457... | ||
456 | 457 | ||
457 | SPI_StartTransmitPacket(); |
458 | SPI_StartTransmitPacket(); |
Line 458... | Line 459... | ||
458 | SendSPI = 4; |
459 | SendSPI = 4; |