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Rev 703 Rev 711
Line 18... Line 18...
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volatile int16_t Current_Pitch = 0, Current_Roll = 0, Current_Yaw = 0;
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volatile int16_t Current_Pitch = 0, Current_Roll = 0, Current_Yaw = 0;
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volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0;
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volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0;
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volatile int16_t UBat = 100;
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volatile int16_t UBat = 100;
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volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;
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volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;
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volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0;
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volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0;
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volatile uint8_t messanzahl_AccHoch = 0;
 - 
 
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volatile int32_t AirPressure = 32000;
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volatile int32_t AirPressure = 32000;
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volatile int16_t StartAirPressure;
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volatile int16_t StartAirPressure;
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volatile uint16_t ReadingAirPressure = 1023;
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volatile uint16_t ReadingAirPressure = 1023;
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uint8_t DruckOffsetSetting;
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uint8_t PressureSensorOffset;
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volatile int16_t HightD = 0;
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volatile int16_t HightD = 0;
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volatile int16_t tmpAirPressure;
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volatile int16_t tmpAirPressure;
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volatile uint16_t ZaehlMessungen = 0;
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volatile uint16_t MeasurementCounter = 0;
Line 31... Line 30...
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 30 
 
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/*****************************************************/
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/*****************************************************/
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/*     Initialize Analog Digital Converter           */
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/*     Initialize Analog Digital Converter           */
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/*****************************************************/
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/*****************************************************/
Line 73... Line 72...
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  Delay_ms_Mess(50);
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  Delay_ms_Mess(50);
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  printf(".");
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  printf(".");
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  if(ReadingAirPressure < 900) break;
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  if(ReadingAirPressure < 900) break;
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  }
 75 
  }
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 SetParamByte(PID_LAST_OFFSET, off);
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 SetParamByte(PID_LAST_OFFSET, off);
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 DruckOffsetSetting = off;
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 PressureSensorOffset = off;
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 Delay_ms_Mess(300);
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 Delay_ms_Mess(300);
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}
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}
Line 81... Line 80...
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Line 94... Line 93...
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    switch(state++)
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    switch(state++)
95 
        {
 94 
        {
96 
        case 0:
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        case 0:
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            yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
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            yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
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            adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
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            adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
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            ZaehlMessungen++; // increment total measurement counter
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            MeasurementCounter++; // increment total measurement counter
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            break;
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            break;
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        case 1:
 100 
        case 1:
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            roll1 = ADC; // get Gyro Roll Voltage 1st sample
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            roll1 = ADC; // get Gyro Roll Voltage 1st sample
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            adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
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            adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
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            break;
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            break;
Line 149... Line 148...
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             }
 148 
             }
150 
             else if(AdValueAccTop < -1)
 149 
             else if(AdValueAccTop < -1)
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             {
 150 
             {
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              if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
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              if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
153 
             }
 152 
             }
154 
            messanzahl_AccHoch = 1;
 - 
 
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            Current_AccZ = ADC;
 153 
            Current_AccZ = ADC;
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            Reading_Integral_Top += AdValueAccTop;      // Integrieren
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            Reading_Integral_Top += AdValueAccTop;      // Integrieren
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            Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
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            Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
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                adc_channel = 3; // set next channel to ADC3 = air pressure
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                adc_channel = 3; // set next channel to ADC3 = air pressure
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            break;
 157 
            break;