Rev 734 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 734 | Rev 740 | ||
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Line 198... | Line 198... | ||
198 | MesswertGier = 0; |
198 | MesswertGier = 0; |
199 | StartLuftdruck = Luftdruck; |
199 | StartLuftdruck = Luftdruck; |
200 | HoeheD = 0; |
200 | HoeheD = 0; |
201 | Mess_Integral_Hoch = 0; |
201 | Mess_Integral_Hoch = 0; |
202 | KompassStartwert = KompassValue; |
202 | KompassStartwert = KompassValue; |
203 | GPS_Neutral(); |
- | |
204 | beeptime = 50; |
203 | beeptime = 50; |
205 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
204 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
206 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
205 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
207 | ExternHoehenValue = 0; |
206 | ExternHoehenValue = 0; |
208 | } |
207 | } |
Line 430... | Line 429... | ||
430 | static char NeueKompassRichtungMerken; |
429 | static char NeueKompassRichtungMerken; |
431 | static long ausgleichNick, ausgleichRoll; |
430 | static long ausgleichNick, ausgleichRoll; |
Line 432... | Line 431... | ||
432 | 431 | ||
Line 433... | Line 432... | ||
433 | Mittelwert(); |
432 | Mittelwert(); |
434 | 433 | ||
435 | GRN_ON; |
434 | //GRN_ON; |
436 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
435 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
437 | // Gaswert ermitteln |
436 | // Gaswert ermitteln |
438 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
437 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
Line 494... | Line 493... | ||
494 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
493 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
495 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
494 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
496 | { |
495 | { |
497 | if(++delay_neutral > 200) // nicht sofort |
496 | if(++delay_neutral > 200) // nicht sofort |
498 | { |
497 | { |
499 | GRN_OFF; |
498 | //GRN_OFF; |
500 | MotorenEin = 0; |
499 | MotorenEin = 0; |
501 | delay_neutral = 0; |
500 | delay_neutral = 0; |
502 | modell_fliegt = 0; |
501 | modell_fliegt = 0; |
503 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
502 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
504 | { |
503 | { |
Line 910... | Line 909... | ||
910 | if(NeueKompassRichtungMerken) |
909 | if(NeueKompassRichtungMerken) |
911 | { |
910 | { |
912 | KompassStartwert = KompassValue; |
911 | KompassStartwert = KompassValue; |
913 | NeueKompassRichtungMerken = 0; |
912 | NeueKompassRichtungMerken = 0; |
914 | } |
913 | } |
915 | Mess_Integral_Gier += (KompassRichtung *Parameter_KompassWirkung); // nach Kompass ausrichten |
914 | Mess_Integral_Gier += (KompassRichtung * Parameter_KompassWirkung); // nach Kompass ausrichten |
916 | } |
915 | } |
917 | else beeptime = 50; |
- | |
918 | } |
916 | } |
919 | } |
917 | } |
Line -... | Line 918... | ||
- | 918 | ||
- | 919 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 920 | // GPS |
|
- | 921 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
- | 922 | if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
|
- | 923 | { |
|
- | 924 | GPS_P_Factor = Parameter_UserParam5; |
|
- | 925 | GPS_D_Factor = Parameter_UserParam6; |
|
- | 926 | GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
|
- | 927 | } |
|
- | 928 | else |
|
- | 929 | { |
|
- | 930 | GPS_Nick = 0; |
|
- | 931 | GPS_Roll = 0; |
|
- | 932 | } |
|
920 | 933 | ||
921 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
934 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
922 | // Debugwerte zuordnen |
935 | // Debugwerte zuordnen |
923 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
936 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
924 | if(!TimerWerteausgabe--) |
937 | if(!TimerWerteausgabe--) |
Line 940... | Line 953... | ||
940 | DebugOut.Analog[12] = Motor_Vorne; |
953 | DebugOut.Analog[12] = Motor_Vorne; |
941 | DebugOut.Analog[13] = Motor_Hinten; |
954 | DebugOut.Analog[13] = Motor_Hinten; |
942 | DebugOut.Analog[14] = Motor_Links; |
955 | DebugOut.Analog[14] = Motor_Links; |
943 | DebugOut.Analog[15] = Motor_Rechts; |
956 | DebugOut.Analog[15] = Motor_Rechts; |
944 | DebugOut.Analog[16] = Mittelwert_AccHoch; |
957 | DebugOut.Analog[16] = Mittelwert_AccHoch; |
- | 958 | ||
- | 959 | DebugOut.Analog[17] = Parameter_UserParam5; |
|
- | 960 | DebugOut.Analog[18] = Parameter_UserParam6; |
|
945 | /* |
961 | /* |
946 | DebugOut.Analog[17] = IntegralAccNick / 26; |
- | |
947 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
- | |
948 | DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
962 | DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
949 | DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
963 | DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
950 | DebugOut.Analog[21] = MittelIntegralNick / 26; |
964 | DebugOut.Analog[21] = MittelIntegralNick / 26; |
951 | DebugOut.Analog[22] = MittelIntegralRoll / 26; |
965 | DebugOut.Analog[22] = MittelIntegralRoll / 26; |
952 | DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
966 | DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |