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 | ||
|---|---|---|---|
| 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; |