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| Rev 694 | Rev 701 | ||
|---|---|---|---|
| Line 108... | Line 108... | ||
| 108 | WDTCSR = 0; |
108 | WDTCSR = 0; |
| Line 109... | Line 109... | ||
| 109 | 109 | ||
| Line 110... | Line 110... | ||
| 110 | BeepTime = 2000; |
110 | BeepTime = 2000; |
| 111 | 111 | ||
| 112 | PPM_in[CH_GAS] = 0; |
112 | PPM_in[CH_GAS] = 0; |
| 113 | StickGier = 0; |
113 | StickYaw = 0; |
| Line 114... | Line 114... | ||
| 114 | StickRoll = 0; |
114 | StickRoll = 0; |
| Line 115... | Line 115... | ||
| 115 | StickNick = 0; |
115 | StickPitch = 0; |
| 116 | 116 | ||
| 117 | ROT_OFF; |
117 | ROT_OFF; |
| 118 | 118 | ||
| 119 | TIMER0_Init(); |
119 | TIMER0_Init(); |
| 120 | TIMER2_Init(); |
120 | TIMER2_Init(); |
| 121 | USART0_Init(); |
121 | USART0_Init(); |
| 122 | USART1_Init(); |
122 | //USART1_Init(); |
| 123 | rc_sum_init(); |
123 | rc_sum_init(); |
| Line 138... | Line 138... | ||
| 138 | GRN_ON; |
138 | GRN_ON; |
| Line 139... | Line 139... | ||
| 139 | 139 | ||
| 140 | // Parameter set handling |
140 | // Parameter set handling |
| Line 141... | Line 141... | ||
| 141 | ParamSet_Init(); |
141 | ParamSet_Init(); |
| 142 | 142 | ||
| 143 | if(GetParamByte(PID_ACC_NICK) > 4) |
143 | if(GetParamByte(PID_ACC_PITCH) > 4) |
| 144 | { |
144 | { |
| Line 145... | Line 145... | ||
| 145 | printf("\n\rACC nicht abgeglichen!"); |
145 | printf("\n\rACC nicht abgeglichen!"); |
| 146 | } |
146 | } |
| 147 | 147 | ||
| Line 148... | Line 148... | ||
| 148 | //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht |
148 | //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht |
| 149 | timer = SetDelay(500); |
149 | timer = SetDelay(500); |
| 150 | while(!CheckDelay(timer)); |
150 | while(!CheckDelay(timer)); |
| 151 | 151 | ||
| 152 | //Compass calibration? |
152 | //Compass calibration? |
| 153 | if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 100) |
153 | if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100) |
| Line 154... | Line 154... | ||
| 154 | { |
154 | { |
| 155 | printf("\n\rCalibrating Compass"); |
155 | printf("\n\rCalibrating Compass"); |
| 156 | MM3_calibrate(); |
156 | MM3_calibrate(); |
| 157 | } |
157 | } |
| 158 | 158 | ||
| 159 | 159 | ||
| 160 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
160 | if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| 161 | { |
161 | { |
| Line 162... | Line 162... | ||
| 162 | printf("\n\rAbgleich Luftdrucksensor.."); |
162 | printf("\n\rAbgleich Luftdrucksensor.."); |
| Line 198... | Line 198... | ||
| 198 | else |
198 | else |
| 199 | { |
199 | { |
| 200 | DubWiseKeys[0] = 0; |
200 | DubWiseKeys[0] = 0; |
| 201 | DubWiseKeys[1] = 0; |
201 | DubWiseKeys[1] = 0; |
| 202 | ExternControl.Config = 0; |
202 | ExternControl.Config = 0; |
| 203 | ExternStickNick = 0; |
203 | ExternStickPitch= 0; |
| 204 | ExternStickRoll = 0; |
204 | ExternStickRoll = 0; |
| 205 | ExternStickGier = 0; |
205 | ExternStickYaw = 0; |
| 206 | } |
206 | } |
| 207 | if(SenderOkay) SenderOkay--; |
207 | if(SenderOkay) SenderOkay--; |
| 208 | if(!I2CTimeout) |
208 | if(!I2CTimeout) |
| 209 | { |
209 | { |
| 210 | I2CTimeout = 5; |
210 | I2CTimeout = 5; |
| 211 | i2c_reset(); |
211 | i2c_reset(); |
| 212 | if((BeepModulation == 0xFFFF) && MotorenEin) |
212 | if((BeepModulation == 0xFFFF) && MotorsOn) |
| 213 | { |
213 | { |
| 214 | BeepTime = 10000; // 1 second |
214 | BeepTime = 10000; // 1 second |
| 215 | BeepModulation = 0x0080; |
215 | BeepModulation = 0x0080; |
| 216 | } |
216 | } |
| 217 | } |
217 | } |