WebSVN - FlightCtrl - Diff - Rev 742 and 743 - /branches/MicroMag3

 unsigned char h,m,s;
 volatile unsigned int I2CTimeout = 100;
 int MesswertNick,MesswertRoll,MesswertGier;
 int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
-int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch;
+int Mittelwert_AccNick, Mittelwert_AccRoll;
 long IntegralNick = 0,IntegralNick2 = 0;
 long IntegralRoll = 0,IntegralRoll2 = 0;
-long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
+long IntegralAccNick = 0,IntegralAccRoll = 0;
 long Integral_Gier = 0;
 unsigned char HoehenReglerAktiv = 0;
 long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
 float GyroFaktor;
 float IntegralFaktor;
-volatile int DiffNick,DiffRoll;
+int DiffNick,DiffRoll;
 int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
 volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
 unsigned char MotorWert[5];
 volatile unsigned char SenderOkay = 0;
     MesswertNick = (signed int) AdWertNick - AdNeutralNick;
 // Beschleunigungssensor  ++++++++++++++++++++++++++++++++++++++++++++++++
         Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 2L;
-        Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 2L;
-        Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdWertAccHoch)) / 2L;
+        Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 2L;
     IntegralAccNick += ACC_AMPLIFY * AdWertAccNick;
-    IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll;
-    IntegralAccZ    += Aktuell_az - acc_neutral.Z;
+    IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll;
 // Gier  ++++++++++++++++++++++++++++++++++++++++++++++++
             Mess_Integral_Gier +=  MesswertGier;
             Mess_Integral_Gier2 += MesswertGier;
 // Kopplungsanteil  +++++++++++++++++++++++++++++++++++++
         MesswertNick = AdWertNick;
         MesswertRoll = AdWertRoll;
         MesswertGier = AdWertGier;
         Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
         Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
-        Mittelwert_AccHoch = (long)AdWertAccHoch;
    // ADC einschalten
     ANALOG_ON;
     if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--;
     if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--;
     if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--;
     if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
     if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
     if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
         Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
-        Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
+        Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
+}
 //############################################################################
           MotorenEin = 0;
           Notlandung = 0;
+         }
         ROT_ON;
         if(modell_fliegt > 2000)  // wahrscheinlich in der Luft --> langsam absenken
-            {
+                {
-            GasMischanteil = EE_Parameter.NotGas;
+                        GasMischanteil = EE_Parameter.NotGas;
-            Notlandung = 1;
+                        Notlandung = 1;
+                        PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
+                        PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
-            PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
+                        PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
-            PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
+                        PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
-            PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
+                        PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
-            }
+                }
-         else MotorenEin = 0;
+                else MotorenEin = 0;
+        }
         else
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Emfang gut
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                          if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2;
                          if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3;
                          if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4;
                          if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5;
                          eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting);  // aktiven Datensatz merken
                         }
-                        if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
-                          {
-                             if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
-                          }
                             ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct));
                         SetNeutral();
                         Piep(GetActiveParamSetNumber());
+                        }
+                    }
+  {
     MittelIntegralNick  /= ABGLEICH_ANZAHL;
     MittelIntegralRoll  /= ABGLEICH_ANZAHL;
         IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL;
         IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
-    IntegralAccZ    = IntegralAccZ / ABGLEICH_ANZAHL;
 #define MAX_I 0//(Poti2/10)
 // Nick ++++++++++++++++++++++++++++++++++++++++++++++++
     IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
     ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich;
 // Roll ++++++++++++++++++++++++++++++++++++++++++++++++
     LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
    if((MaxStickNick > 15) || (MaxStickRoll > 15) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25))
+    {
      LageKorrekturNick /= 2;
-     LageKorrekturNick /= 2;
+     LageKorrekturRoll /= 2;
+    }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    MittelIntegralNick_Alt = MittelIntegralNick;
    MittelIntegralRoll_Alt = MittelIntegralRoll;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++
     IntegralAccNick = 0;
     IntegralAccRoll = 0;
-    IntegralAccZ = 0;
     MittelIntegralNick = 0;
     MittelIntegralRoll = 0;
     MittelIntegralNick2 = 0;
     MittelIntegralRoll2 = 0;
     ZaehlMessungen = 0;
         DebugOut.Analog[12] = Motor_Vorne;
     DebugOut.Analog[13] = Motor_Hinten;
     DebugOut.Analog[14] = Motor_Links;
     DebugOut.Analog[15] = Motor_Rechts;
-    DebugOut.Analog[16] = Mittelwert_AccHoch;
+    DebugOut.Analog[16] = AdWertAccHoch;
         DebugOut.Analog[17] = GPSInfo.satfix;
         DebugOut.Analog[18] = GPSInfo.utmnorth;

Subversion Repositories FlightCtrl

(root)/branches/MicroMag3_Nick666/trunc/fc.c - Rev 742 → 743