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Rev 973 | Rev 974 | ||
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Line 154... | Line 154... | ||
154 | while (((Count8Khz - OldTime) *10) / 8 < 120); |
154 | while (((Count8Khz - OldTime) *10) / 8 < 120); |
155 | DebugOut.Analog[14] = ((Count8Khz - OldTime) *10) / 8; |
155 | DebugOut.Analog[14] = ((Count8Khz - OldTime) *10) / 8; |
156 | } |
156 | } |
157 | OldTime = Count8Khz; |
157 | OldTime = Count8Khz; |
Line 158... | Line 158... | ||
158 | 158 | ||
159 | /*GetMeasurements()*/ |
159 | /* GetMeasurements()*/ |
- | 160 | GetMeasurements(); |
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160 | GetMeasurements(); |
161 | |
161 | /*EstimateFlightAttitude */ |
162 | /* EstimateFlightAttitude */ |
- | 163 | FlightAttitudeEstimation(); |
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162 | FlightAttitudeEstimation(); |
164 | |
163 | /* Set Nominal Value */ |
165 | /* Set Nominal Value */ |
- | 166 | RemoteControl(); |
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164 | RemoteControl(); |
167 | |
165 | /* PID Control */ |
168 | /* PD Control */ |
- | 169 | PD_Regler(); |
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166 | PD_Regler(); |
170 | |
167 | /* Send Motor Data */ |
171 | /* Send Motor Data */ |
- | 172 | SendMotorData(); |
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168 | SendMotorData(); |
173 | |
169 | /* TestRemote */ |
174 | /* TestRemote */ |
- | 175 | TestRemote(); |
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170 | TestRemote(); |
176 | |
171 | /* Test IC2- / RC-Link */ |
177 | /* Test IC2- / RC-Link */ |
172 | TestIC2Link(); |
178 | TestIC2Link(); |
173 | } |
179 | } |
174 | /* Send Debug Data over RS232 */ |
180 | /* Send Debug Data over RS232 */ |
175 | SendDebugData(); |
181 | SendDebugData(); |
176 | /* Check the Batery for Undervoltage */ |
182 | /* Check the Batery for Undervoltage */ |
177 | TestBattery(); |
183 | TestBattery(); |
178 | /* DeployRescue */ |
184 | /* DeployRescue */ |
179 | //DeployRescue(); |
185 | /* DeployRescue(); */ |
180 | } |
186 | } |
Line 181... | Line 187... | ||
181 | } |
187 | } |
182 | 188 |