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| Rev 974 | Rev 980 | ||
|---|---|---|---|
| Line 112... | Line 112... | ||
| 112 | IMU_Main(); |
112 | IMU_Main(); |
| 113 | return (1); |
113 | return (1); |
| 114 | } |
114 | } |
| Line 115... | Line -... | ||
| 115 | - | ||
| 116 | 115 | ||
| 117 | 116 | ||
| 118 | /* **************************************************************************** |
117 | /* **************************************************************************** |
| Line 119... | Line 118... | ||
| 119 | Functionname: IMU_Main */ /*! |
118 | Functionname: IMU_Main */ /*! |
| Line 180... | Line 179... | ||
| 180 | /* Send Debug Data over RS232 */ |
179 | /* Send Debug Data over RS232 */ |
| 181 | SendDebugData(); |
180 | SendDebugData(); |
| 182 | /* Check the Batery for Undervoltage */ |
181 | /* Check the Batery for Undervoltage */ |
| 183 | TestBattery(); |
182 | TestBattery(); |
| 184 | /* DeployRescue */ |
183 | /* DeployRescue */ |
| 185 | /* DeployRescue(); */ |
184 | DeployRescue(); |
| 186 | } |
185 | } |
| 187 | } |
186 | } |
| Line 188... | Line 187... | ||
| 188 | 187 | ||
| 189 | /* **************************************************************************** |
188 | /* **************************************************************************** |
| Line 195... | Line 194... | ||
| 195 | @post - |
194 | @post - |
| 196 | @author Michael Walter |
195 | @author Michael Walter |
| 197 | **************************************************************************** */ |
196 | **************************************************************************** */ |
| 198 | void DeployRescue() |
197 | void DeployRescue() |
| 199 | { |
198 | { |
| 200 | #if 0 |
199 | static int InvalidAttitude = 0; |
| 201 | /* Yaw or pitch are greater than 60 Deg abs */ |
200 | /* Yaw or pitch are greater than 90 Deg abs */ |
| 202 | if (((abs(status.iTheta10) > 600) || (abs(status.iPhi10) > 600)) && |
201 | if (((abs(status.iTheta10) > 900) || (abs(status.iPhi10) > 900)) && |
| 203 | ((abs(AverageRoll) > Threshhold) || |
202 | ((abs(AverageRoll) > 400) || |
| 204 | (abs(AverageNick) > Threshhold) || |
203 | (abs(AverageNick) > 400) || |
| 205 | (abs(AverageGier) > Threshhold) )) |
204 | (abs(AverageGier) > 400) )) |
| 206 | { |
205 | { |
| 207 | MotorenEin = 0; |
206 | //MotorenEin = 0; |
| 208 | Delay_ms(1000); |
207 | Delay_ms(500); |
| - | 208 | InvalidAttitude = 1; |
|
| - | 209 | } |
|
| - | 210 | ||
| - | 211 | if (InvalidAttitude) |
|
| - | 212 | { |
|
| - | 213 | ServoValue = 150; |
|
| - | 214 | } |
|
| - | 215 | else |
|
| - | 216 | { |
|
| 209 | ReleaseServo(); |
217 | ServoValue = 0; |
| 210 | } |
218 | } |
| 211 | #endif |
- | |
| 212 | } |
219 | } |
| Line 213... | Line 220... | ||
| 213 | 220 | ||
| 214 | /* **************************************************************************** |
221 | /* **************************************************************************** |
| 215 | Functionname: ReadParameterSet */ /*! |
222 | Functionname: ReadParameterSet */ /*! |