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Rev 927 Rev 928
Line 705... Line 705...
705 
 
 705 
 
706 
    if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
 706 
    if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
707 
    if(GyroFaktor < 0) GyroFaktor = 0;
 707 
    if(GyroFaktor < 0) GyroFaktor = 0;
Line 708... Line 708...
708 
    if(IntegralFaktor < 0) IntegralFaktor = 0;
 708 
    if(IntegralFaktor < 0) IntegralFaktor = 0;
- 
 
 709 
 
- 
 
 710 
    if(abs(StickNick/STICK_GAIN) > MaxStickNick)
- 
 
 711 
     {
- 
 
 712 
      MaxStickNick = abs(StickNick)/STICK_GAIN;
- 
 
 713 
      if(MaxStickNick > 100) MaxStickNick = 100;
709 
 
 714 
     }
- 
 
 715 
     else MaxStickNick--;
- 
 
 716 
    if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
- 
 
 717 
     {
- 
 
 718 
      MaxStickRoll = abs(StickRoll)/STICK_GAIN;
- 
 
 719 
      if(MaxStickRoll > 100) MaxStickRoll = 100;
710 
    if(abs(StickNick/STICK_GAIN) > MaxStickNick) MaxStickNick = abs(StickNick)/STICK_GAIN; else MaxStickNick--;
 720 
     }
Line 711... Line 721...
711 
    if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll)/STICK_GAIN; else MaxStickRoll--;
 721 
     else MaxStickRoll--;
712 
    if(Notlandung)  {MaxStickNick = 0; MaxStickRoll = 0;}
 722 
    if(Notlandung)  {MaxStickNick = 0; MaxStickRoll = 0;}
713 
 
 723 
 
Line 803... Line 813...
803 
   long tmp_long, tmp_long2;
 813 
   long tmp_long, tmp_long2;
804 
    tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
 814 
    tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
805 
    tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
 815 
    tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
806 
    tmp_long /= 16;
 816 
    tmp_long /= 16;
807 
    tmp_long2 /= 16;
 817 
    tmp_long2 /= 16;
808 
   if((MaxStickNick > 32) || (MaxStickRoll > 32))
 818 
   if((MaxStickNick > 64) || (MaxStickRoll > 64))
809 
    {
 819 
    {
810 
    tmp_long  /= 3;
 820 
    tmp_long  /= 3;
811 
    tmp_long2 /= 3;
 821 
    tmp_long2 /= 3;
812 
    }
 822 
    }
813 
   if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
 823 
   if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
Line 848... Line 858...
848 
    ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
 858 
    ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
Line 849... Line 859...
849 
 
 859 
 
850 
    LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
 860 
    LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
Line 851... Line 861...
851 
    LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
 861 
    LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
852 
 
 862 
 
853 
   if((MaxStickNick > 32) || (MaxStickRoll > 32) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25))
 863 
   if((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25))
854 
    {
 864 
    {
855 
     LageKorrekturNick /= 2;
 865 
     LageKorrekturNick /= 2;