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679 | */ |
679 | */ |
680 | GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / (256.0/STICK_GAIN); |
680 | GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / (256.0/STICK_GAIN); |
681 | IntegralFaktor = ((float) Parameter_Gyro_I) / (44000 / STICK_GAIN); |
681 | IntegralFaktor = ((float) Parameter_Gyro_I) / (44000 / STICK_GAIN); |
Line 682... | Line 682... | ||
682 | 682 | ||
683 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
684 | //+ Digitale Steuerung per DubWise |
- | |
685 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
686 | #define KEY_VALUE (Parameter_ExternalControl * 4) //(Poti3 * 8) |
- | |
687 | if(DubWiseKeys[1]) beeptime = 10; |
- | |
688 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
- | |
689 | if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
- | |
690 | ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
- | |
691 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
- | |
692 | if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
- | |
693 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
- | |
694 | - | ||
695 | if(DubWiseKeys[0] & 8) ExternStickGier = 50;else |
- | |
696 | if(DubWiseKeys[0] & 4) ExternStickGier =-50;else ExternStickGier = 0; |
- | |
697 | if(DubWiseKeys[0] & 2) ExternHoehenValue++; |
- | |
698 | if(DubWiseKeys[0] & 16) ExternHoehenValue--; |
- | |
699 | - | ||
700 | StickNick += (STICK_GAIN * ExternStickNick) / 8; |
- | |
701 | StickRoll += (STICK_GAIN * ExternStickRoll) / 8; |
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702 | StickGier += STICK_GAIN * ExternStickGier; |
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703 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
683 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
704 | //+ Analoge Steuerung per Seriell |
684 | //+ Analoge Steuerung per Seriell |
705 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
685 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
686 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
707 | { |
687 | { |