Rev 694 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 694 | Rev 700 | ||
|---|---|---|---|
| Line 698... | Line 698... | ||
| 698 | if(Notlandung) |
698 | if(Notlandung) |
| 699 | { |
699 | { |
| 700 | StickGier = 0; |
700 | StickGier = 0; |
| 701 | StickNick = 0; |
701 | StickNick = 0; |
| 702 | StickRoll = 0; |
702 | StickRoll = 0; |
| 703 | GyroFaktor = 0.1; |
703 | GyroFaktor = 0.5;//Originalwert von Holger 0.1; |
| 704 | IntegralFaktor = 0.005; |
704 | IntegralFaktor = 0.003; //Originalwert von Holger 0.005; |
| 705 | Looping_Roll = 0; |
705 | Looping_Roll = 0; |
| 706 | Looping_Nick = 0; |
706 | Looping_Nick = 0; |
| 707 | } |
707 | } |
| Line 937... | Line 937... | ||
| 937 | int w,v; |
937 | int w,v; |
| 938 | static uint8_t updKompass = 0; |
938 | static uint8_t updKompass = 0; |
| Line 939... | Line 939... | ||
| 939 | 939 | ||
| 940 | if (!updKompass--) // Aufruf mit ~10 Hz |
940 | if (!updKompass--) // Aufruf mit ~10 Hz |
| 941 | { |
941 | { |
| 942 | KompassValue = MM3_heading(); |
942 | KompassValue = MM3_heading(); // get current compass reading |
| 943 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
943 | KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 944 | updKompass = 50; |
944 | updKompass = 50; |
| Line 945... | Line 945... | ||
| 945 | } |
945 | } |
| Line 971... | Line 971... | ||
| 971 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
971 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
| 972 | DebugOut.Analog[2] = Mittelwert_AccNick; |
972 | DebugOut.Analog[2] = Mittelwert_AccNick; |
| 973 | DebugOut.Analog[3] = Mittelwert_AccRoll; |
973 | DebugOut.Analog[3] = Mittelwert_AccRoll; |
| 974 | DebugOut.Analog[4] = MesswertGier; |
974 | DebugOut.Analog[4] = MesswertGier; |
| 975 | DebugOut.Analog[5] = HoehenWert; |
975 | DebugOut.Analog[5] = HoehenWert; |
| 976 | DebugOut.Analog[6] =(Mess_Integral_Hoch / 512); |
976 | DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| 977 | DebugOut.Analog[8] = KompassValue; |
977 | DebugOut.Analog[8] = KompassValue; |
| 978 | DebugOut.Analog[9] = UBat; |
978 | DebugOut.Analog[9] = UBat; |
| 979 | DebugOut.Analog[10] = SenderOkay; |
979 | DebugOut.Analog[10] = SenderOkay; |
| 980 | DebugOut.Analog[16] = Mittelwert_AccHoch; |
980 | DebugOut.Analog[16] = Mittelwert_AccHoch; |