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Rev 966 Rev 973
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#include "main.h"
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#include "main.h"
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#include "FlightControl.h"
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#include "FlightControl.h"
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int UBat = 100; /* Initial Battery Guess */
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int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
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int UBat = 100; /* Initial Battery Guess */
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int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
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int AdWertNick_Raw = 0, AdWertRoll_Raw = 0, AdWertGier_Raw = 0;
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int AdWertNick_Raw = 0, AdWertRoll_Raw = 0, AdWertGier_Raw = 0;
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int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
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int AdWertAccRoll_Raw = 0,AdWertAccNick_Raw = 0,AdWertAccHoch_Raw = 0;
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int AdWertAccRoll_Raw = 0,AdWertAccNick_Raw = 0,AdWertAccHoch_Raw = 0;
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int AccumulatedACC_X = 0, AccumulatedACC_Y = 0, AccumulatedACC_Z = 0, AccumulatedAirPressure = 0;
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int AccumulatedACC_X = 0, AccumulatedACC_Y = 0, AccumulatedACC_Z = 0, AccumulatedAirPressure = 0;
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int AccumulatedACC_X_cnt = 0, AccumulatedACC_Y_cnt = 0, AccumulatedACC_Z_cnt = 0, AccumulatedAirPressure_cnt = 0;
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int AccumulatedACC_X_cnt = 0, AccumulatedACC_Y_cnt = 0, AccumulatedACC_Z_cnt = 0, AccumulatedAirPressure_cnt = 0;
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int AccumulatedRoll_X = 0, AccumulatedRoll_Y = 0, AccumulatedRoll_Z = 0;
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int AccumulatedRoll = 0, AccumulatedNick = 0, AccumulatedGier = 0;
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int AccumulatedRoll_X_cnt = 0, AccumulatedRoll_Y_cnt = 0, AccumulatedRoll_Z_cnt = 0;
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int AccumulatedRoll_cnt = 0, AccumulatedNick_cnt = 0, AccumulatedGier_cnt = 0;
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  static unsigned char kanal=0,state = 0;
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  static unsigned char kanal=0,state = 0;
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  ANALOG_OFF;
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  ANALOG_OFF;
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  switch(state++)
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  switch(state++)
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  {
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  {
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  case 0:
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  case 0:
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    AdWertGier = ADC;
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    AdWertGier_Raw = ADC;
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    AdWertGier_Raw = ADC;
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    AccumulatedRoll_Z += (ADC - AdNeutralGier);
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    AccumulatedGier += (ADC - AdNeutralGier);
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    AccumulatedRoll_Z_cnt++;
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    AccumulatedGier_cnt++;
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    kanal = 1;
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    kanal = 1;
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    break;     
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    break;     
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  case 1:
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  case 1:
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    AdWertRoll = ADC;
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    AdWertRoll_Raw = ADC;
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    AdWertRoll_Raw = ADC;
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    AccumulatedRoll_X += (ADC - AdNeutralRoll);
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    AccumulatedRoll += (ADC - AdNeutralRoll);
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    AccumulatedRoll_X_cnt++;
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    AccumulatedRoll_cnt++;
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    kanal = 2;
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    kanal = 2;
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    break;             
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    break;             
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  case 2:
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  case 2:
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    AdWertNick = ADC;
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    AdWertNick_Raw = ADC;
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    AdWertNick_Raw = ADC;
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    AccumulatedRoll_Y += (ADC - AdNeutralNick);
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    AccumulatedNick += (ADC - AdNeutralNick);
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    AccumulatedRoll_Y_cnt++;
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    AccumulatedNick_cnt++;
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    kanal = 4;
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    kanal = 4;
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    break;                     
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    break;                     
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  case 3:
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  case 3:
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#ifdef INTERNAL_REFERENCE
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#ifdef INTERNAL_REFERENCE
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    UBat = (3 * UBat + (5 * ADC) / 9) / 4; /* The internal Voltage is 5V instesd of 3V */
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    UBat = (3 * UBat + (5 * ADC) / 9) / 4; /* The internal Voltage is 5V instesd of 3V */