Subversion Repositories FlightCtrl

Rev

Rev 703 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 703 Rev 711
Line 18... Line 18...
18 
volatile int16_t Current_Pitch = 0, Current_Roll = 0, Current_Yaw = 0;
 18 
volatile int16_t Current_Pitch = 0, Current_Roll = 0, Current_Yaw = 0;
19 
volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0;
 19 
volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0;
20 
volatile int16_t UBat = 100;
 20 
volatile int16_t UBat = 100;
21 
volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;
 21 
volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;
22 
volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0;
 22 
volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0;
23 
volatile uint8_t messanzahl_AccHoch = 0;
 - 
 
24 
volatile int32_t AirPressure = 32000;
 23 
volatile int32_t AirPressure = 32000;
25 
volatile int16_t StartAirPressure;
 24 
volatile int16_t StartAirPressure;
26 
volatile uint16_t ReadingAirPressure = 1023;
 25 
volatile uint16_t ReadingAirPressure = 1023;
27 
uint8_t DruckOffsetSetting;
 26 
uint8_t PressureSensorOffset;
28 
volatile int16_t HightD = 0;
 27 
volatile int16_t HightD = 0;
29 
volatile int16_t tmpAirPressure;
 28 
volatile int16_t tmpAirPressure;
30 
volatile uint16_t ZaehlMessungen = 0;
 29 
volatile uint16_t MeasurementCounter = 0;
Line 31... Line 30...
31 
 
 30 
 
32 
/*****************************************************/
 31 
/*****************************************************/
33 
/*     Initialize Analog Digital Converter           */
 32 
/*     Initialize Analog Digital Converter           */
34 
/*****************************************************/
 33 
/*****************************************************/
Line 73... Line 72...
73 
  Delay_ms_Mess(50);
 72 
  Delay_ms_Mess(50);
74 
  printf(".");
 73 
  printf(".");
75 
  if(ReadingAirPressure < 900) break;
 74 
  if(ReadingAirPressure < 900) break;
76 
  }
 75 
  }
77 
 SetParamByte(PID_LAST_OFFSET, off);
 76 
 SetParamByte(PID_LAST_OFFSET, off);
78 
 DruckOffsetSetting = off;
 77 
 PressureSensorOffset = off;
79 
 Delay_ms_Mess(300);
 78 
 Delay_ms_Mess(300);
80 
}
 79 
}
Line 81... Line 80...
81 
 
 80 
 
Line 94... Line 93...
94 
    switch(state++)
 93 
    switch(state++)
95 
        {
 94 
        {
96 
        case 0:
 95 
        case 0:
97 
            yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
 96 
            yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
98 
            adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
 97 
            adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
99 
            ZaehlMessungen++; // increment total measurement counter
 98 
            MeasurementCounter++; // increment total measurement counter
100 
            break;
 99 
            break;
101 
        case 1:
 100 
        case 1:
102 
            roll1 = ADC; // get Gyro Roll Voltage 1st sample
 101 
            roll1 = ADC; // get Gyro Roll Voltage 1st sample
103 
            adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
 102 
            adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
104 
            break;
 103 
            break;
Line 149... Line 148...
149 
             }
 148 
             }
150 
             else if(AdValueAccTop < -1)
 149 
             else if(AdValueAccTop < -1)
151 
             {
 150 
             {
152 
              if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
 151 
              if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
153 
             }
 152 
             }
154 
            messanzahl_AccHoch = 1;
 - 
 
155 
            Current_AccZ = ADC;
 153 
            Current_AccZ = ADC;
156 
            Reading_Integral_Top += AdValueAccTop;      // Integrieren
 154 
            Reading_Integral_Top += AdValueAccTop;      // Integrieren
157 
            Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
 155 
            Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
158 
                adc_channel = 3; // set next channel to ADC3 = air pressure
 156 
                adc_channel = 3; // set next channel to ADC3 = air pressure
159 
            break;
 157 
            break;