WebSVN - FlightCtrl - Diff - Rev 700 and 701 - /branches/V0.68d Code Redesign killagreg/fc.c

 #include "twimaster.h"
 #include "mm3.h"
 unsigned char h,m,s;
 volatile unsigned int I2CTimeout = 100;
-volatile int MesswertNick,MesswertRoll,MesswertGier;
+volatile int ReadingPitch, ReadingRoll, ReadingYaw;
-volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
+volatile int AdNeutralPitch = 0,AdNeutralRoll = 0,AdNeutralYaw = 0, StartNeutralRoll = 0, StartNeutralPitch = 0;
-volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0;
+volatile int Mean_AccPitch, Mean_AccRoll, Mean_AccTop, NeutralAccX=0, NeutralAccY=0;
 volatile float NeutralAccZ = 0;
-volatile long IntegralNick = 0,IntegralNick2 = 0;
+volatile long IntegralPitch = 0,IntegralPitch2 = 0;
 volatile long IntegralRoll = 0,IntegralRoll2 = 0;
-volatile long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
+volatile long IntegralAccPitch = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
-volatile long Integral_Gier = 0;
+volatile long Integral_Yaw = 0;
-volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0;
+volatile long Reading_IntegralPitch = 0,Reading_IntegralPitch2 = 0;
-volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0;
+volatile long Reading_IntegralRoll = 0,Reading_IntegralRoll2 = 0;
-volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
+volatile long Reading_Integral_Yaw = 0,Reading_Integral_Yaw2 = 0;
-volatile long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2;
+volatile long MeanIntegralPitch, MeanIntegralRoll, MeanIntegralPitch2, MeanIntegralRoll2;
-volatile long Mess_Integral_Hoch = 0;
+volatile long Reading_Integral_Top = 0;
-volatile int  KompassValue = 0;
+volatile int  CompassHeading = 0;
-volatile int  KompassStartwert = 0;
+volatile int  CompassCourse = 0;
-volatile int  KompassRichtung = 0;
+volatile int  CompassOffCourse = 0;
 unsigned char MAX_GAS,MIN_GAS;
-unsigned char Notlandung = 0;
+unsigned char EmergencyLanding = 0;
-unsigned char HoehenReglerAktiv = 0;
+unsigned char HightControlActive = 0;
-long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
+long TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L;
-float GyroFaktor;
+float GyroFactor;
-float IntegralFaktor;
+float IntegralFactor;
-volatile int  DiffNick,DiffRoll;
+volatile int  DiffPitch,DiffRoll;
 int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
-volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
+volatile unsigned char Motor_Front, Motor_Rear, Motor_Right, Motor_Left, Count;
-unsigned char MotorWert[5];
+unsigned char MotorValue[5];
-int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
+int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickGas = 0;
-char MotorenEin = 0;
+char MotorsOn = 0;
-int HoehenWert = 0;
+int ReadingHight = 0;
-int SollHoehe = 0;
+int SetPointHight = 0;
-int LageKorrekturRoll = 0,LageKorrekturNick = 0;
+int AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0;
 float Ki =  FAKTOR_I;
-unsigned char Looping_Nick = 0,Looping_Roll = 0;
+unsigned char Looping_Pitch = 0, Looping_Roll = 0;
-unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
+unsigned char Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;
 unsigned char Parameter_Luftdruck_D  = 48;      // Wert : 0-250
-unsigned char Parameter_MaxHoehe     = 251;      // Wert : 0-250
+unsigned char Parameter_MaxHoehe     = 251;     // Wert : 0-250
 unsigned char Parameter_Hoehe_P      = 16;      // Wert : 0-32
 unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
-unsigned char Parameter_KompassWirkung = 64;    // Wert : 0-250
+unsigned char Parameter_CompassYawEffect = 64;  // Wert : 0-250
 unsigned char Parameter_Gyro_P = 150;           // Wert : 10-250
 unsigned char Parameter_Gyro_I = 150;           // Wert : 0-250
 unsigned char Parameter_Gier_P = 2;             // Wert : 1-20
 unsigned char Parameter_UserParam4 = 0;
 unsigned char Parameter_UserParam5 = 0;
 unsigned char Parameter_UserParam6 = 0;
 unsigned char Parameter_UserParam7 = 0;
 unsigned char Parameter_UserParam8 = 0;
-unsigned char Parameter_ServoNickControl = 100;
+unsigned char Parameter_ServoPitchControl = 100;
 unsigned char Parameter_LoopGasLimit = 70;
 unsigned char Parameter_AchsKopplung1 = 0;
 unsigned char Parameter_AchsGegenKopplung1 = 0;
 unsigned char Parameter_DynamicStability = 100;
-signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
+signed int ExternStickPitch = 0, ExternStickRoll = 0,ExternStickYaw = 0, ExternHightValue = -20;
-int MaxStickNick = 0,MaxStickRoll = 0;
+int MaxStickPitch = 0, MaxStickRoll = 0;
 void Piep(unsigned char Anzahl)
+{
  while(Anzahl--)
+ {
-  if(MotorenEin) return; //auf keinen Fall im Flug!
+  if(MotorsOn) return; //auf keinen Fall im Flug!
   BeepTime = 100;
   Delay_ms(250);
 //############################################################################
+{
         NeutralAccX = 0;
         NeutralAccY = 0;
         NeutralAccZ = 0;
-    AdNeutralNick = 0;
+    AdNeutralPitch = 0;
         AdNeutralRoll = 0;
-        AdNeutralGier = 0;
+        AdNeutralYaw = 0;
     Parameter_AchsKopplung1 = 0;
     Parameter_AchsGegenKopplung1 = 0;
-    CalibrierMittelwert();
+    CalibMean();
     Delay_ms_Mess(100);
-        CalibrierMittelwert();
+        CalibMean();
     if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Höhenregelung aktiviert?
+     {
-      if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
+      if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
+     }
-     AdNeutralNick= AdValueGyrNick;
+     AdNeutralPitch= AdValueGyrPitch;
          AdNeutralRoll= AdValueGyrRoll;
-         AdNeutralGier= AdValueGyrGier;
+         AdNeutralYaw= AdValueGyrYaw;
      StartNeutralRoll = AdNeutralRoll;
-     StartNeutralNick = AdNeutralNick;
+     StartNeutralPitch = AdNeutralPitch;
-    if(GetParamByte(PID_ACC_NICK) > 4)
+    if(GetParamByte(PID_ACC_PITCH) > 4)
     {
-      NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY;
+      NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY;
-          NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY;
+          NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY;
           NeutralAccZ = Current_AccZ;
+    }
     else
-    {
+    { // why not GetParamWord()?
-      NeutralAccX = (int)GetParamByte(PID_ACC_NICK) * 256 + (int)GetParamByte(PID_ACC_NICK+1);
+      NeutralAccX = (int)GetParamByte(PID_ACC_PITCH) * 256 + (int)GetParamByte(PID_ACC_PITCH+1);
           NeutralAccY = (int)GetParamByte(PID_ACC_ROLL) * 256 + (int)GetParamByte(PID_ACC_ROLL+1);
           NeutralAccZ = (int)GetParamByte(PID_ACC_Z) * 256 + (int)GetParamByte(PID_ACC_Z+1);
     }
-        Mess_IntegralNick = 0;
+        Reading_IntegralPitch = 0;
-    Mess_IntegralNick2 = 0;
+    Reading_IntegralPitch2 = 0;
-    Mess_IntegralRoll = 0;
+    Reading_IntegralRoll = 0;
-    Mess_IntegralRoll2 = 0;
+    Reading_IntegralRoll2 = 0;
-    Mess_Integral_Gier = 0;
+    Reading_Integral_Yaw = 0;
-    MesswertNick = 0;
+    ReadingPitch = 0;
-    MesswertRoll = 0;
+    ReadingRoll = 0;
-    MesswertGier = 0;
+    ReadingYaw = 0;
-    StartLuftdruck = Luftdruck;
+    StartAirPressure = AirPressure;
     HoeheD = 0;
-    Mess_Integral_Hoch = 0;
+    Reading_Integral_Top = 0;
-    KompassStartwert = KompassValue;
+    CompassCourse = CompassHeading;
     GPS_Neutral();
     BeepTime = 50;
-        Umschlag180Nick = (long) ParamSet.WinkelUmschlagNick * 2500L;
+        TurnOver180Pitch = (long) ParamSet.AngleTurnOverPitch * 2500L;
-        Umschlag180Roll = (long) ParamSet.WinkelUmschlagRoll * 2500L;
+        TurnOver180Roll = (long) ParamSet.AngleTurnOverRoll * 2500L;
-    ExternHoehenValue = 0;
+    ExternHightValue = 0;
+}
 //############################################################################
 // Bearbeitet die Messwerte
-void Mittelwert(void)
+void Mean(void)
 //############################################################################
 {
-    static signed long tmpl,tmpl2;
+    static int32_t tmpl,tmpl2;
-    MesswertGier = (signed int) AdNeutralGier - AdValueGyrGier;
+    ReadingYaw = (int16_t) AdNeutralYaw - AdValueGyrYaw;
-    MesswertRoll = (signed int) AdValueGyrRoll - AdNeutralRoll;
+    ReadingRoll = (int16_t) AdValueGyrRoll - AdNeutralRoll;
-    MesswertNick = (signed int) AdValueGyrNick - AdNeutralNick;
+    ReadingPitch = (int16_t) AdValueGyrPitch - AdNeutralPitch;
-//DebugOut.Analog[26] = MesswertNick;
+//DebugOut.Analog[26] = ReadingPitch;
-DebugOut.Analog[28] = MesswertRoll;
+DebugOut.Analog[28] = ReadingRoll;
 // Beschleunigungssensor  ++++++++++++++++++++++++++++++++++++++++++++++++
-        Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdValueAccNick))) / 2L;
+        Mean_AccPitch = ((long)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (long)AdValueAccPitch))) / 2L;
-        Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdValueAccRoll))) / 2L;
+        Mean_AccRoll = ((long)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdValueAccRoll))) / 2L;
-        Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdValueAccTop)) / 2L;
+        Mean_AccTop = ((long)Mean_AccTop * 1 + ((long)AdValueAccTop)) / 2L;
-    IntegralAccNick += ACC_AMPLIFY * AdValueAccNick;
+    IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch;
     IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll;
     IntegralAccZ    += Current_AccZ - NeutralAccZ;
-// Gier  ++++++++++++++++++++++++++++++++++++++++++++++++
+// Yaw  ++++++++++++++++++++++++++++++++++++++++++++++++
-            Mess_Integral_Gier +=  MesswertGier;
+            Reading_Integral_Yaw +=  ReadingYaw;
-            Mess_Integral_Gier2 += MesswertGier;
+            Reading_Integral_Yaw2 += ReadingYaw;
 // Kopplungsanteil  +++++++++++++++++++++++++++++++++++++
-      if(!Looping_Nick && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
+      if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
          {
-            tmpl = Mess_IntegralNick / 4096L;
+            tmpl = Reading_IntegralPitch / 4096L;
-            tmpl *= MesswertGier;
+            tmpl *= ReadingYaw;
             tmpl *= Parameter_AchsKopplung1;  //125
             tmpl /= 2048L;
-            tmpl2 = Mess_IntegralRoll / 4096L;
+            tmpl2 = Reading_IntegralRoll / 4096L;
-            tmpl2 *= MesswertGier;
+            tmpl2 *= ReadingYaw;
             tmpl2 *= Parameter_AchsKopplung1;
             tmpl2 /= 2048L;
          }
       else  tmpl = tmpl2 = 0;
 // Roll  ++++++++++++++++++++++++++++++++++++++++++++++++
-            MesswertRoll += tmpl;
+            ReadingRoll += tmpl;
-            MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109
+            ReadingRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109
-            Mess_IntegralRoll2 += MesswertRoll;
+            Reading_IntegralRoll2 += ReadingRoll;
-            Mess_IntegralRoll +=  MesswertRoll - LageKorrekturRoll;
+            Reading_IntegralRoll +=  ReadingRoll - AttitudeCorrectionRoll;
-            if(Mess_IntegralRoll > Umschlag180Roll)
+            if(Reading_IntegralRoll > TurnOver180Roll)
+            {
-             Mess_IntegralRoll  = -(Umschlag180Roll - 10000L);
+             Reading_IntegralRoll  = -(TurnOver180Roll - 10000L);
-             Mess_IntegralRoll2 = Mess_IntegralRoll;
+             Reading_IntegralRoll2 = Reading_IntegralRoll;
+            }
-            if(Mess_IntegralRoll <-Umschlag180Roll)
+            if(Reading_IntegralRoll <-TurnOver180Roll)
             {
-             Mess_IntegralRoll =  (Umschlag180Roll - 10000L);
+             Reading_IntegralRoll =  (TurnOver180Roll - 10000L);
-             Mess_IntegralRoll2 = Mess_IntegralRoll;
+             Reading_IntegralRoll2 = Reading_IntegralRoll;
             }
-            if(AdValueGyrRoll < 15)   MesswertRoll = -1000;
+            if(AdValueGyrRoll < 15)   ReadingRoll = -1000;
-            if(AdValueGyrRoll <  7)   MesswertRoll = -2000;
+            if(AdValueGyrRoll <  7)   ReadingRoll = -2000;
             if(BoardRelease == 10)
+                         {
-              if(AdValueGyrRoll > 1010) MesswertRoll = +1000;
+              if(AdValueGyrRoll > 1010) ReadingRoll = +1000;
-              if(AdValueGyrRoll > 1017) MesswertRoll = +2000;
+              if(AdValueGyrRoll > 1017) ReadingRoll = +2000;
+                         }
                          else
                          {
-              if(AdValueGyrRoll > 2020) MesswertRoll = +1000;
+              if(AdValueGyrRoll > 2020) ReadingRoll = +1000;
-              if(AdValueGyrRoll > 2034) MesswertRoll = +2000;
+              if(AdValueGyrRoll > 2034) ReadingRoll = +2000;
                          }
-// Nick  ++++++++++++++++++++++++++++++++++++++++++++++++
+// Pitch  ++++++++++++++++++++++++++++++++++++++++++++++++
-            MesswertNick -= tmpl2;
+            ReadingPitch -= tmpl2;
-            MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L;
+            ReadingPitch -= (tmpl*Parameter_AchsGegenKopplung1)/512L;
-            Mess_IntegralNick2 += MesswertNick;
+            Reading_IntegralPitch2 += ReadingPitch;
-            Mess_IntegralNick  += MesswertNick - LageKorrekturNick;
+            Reading_IntegralPitch  += ReadingPitch - AttitudeCorrectionPitch;
-            if(Mess_IntegralNick > Umschlag180Nick)
+            if(Reading_IntegralPitch > TurnOver180Pitch)
+            {
-             Mess_IntegralNick = -(Umschlag180Nick - 10000L);
+             Reading_IntegralPitch = -(TurnOver180Pitch - 10000L);
-             Mess_IntegralNick2 = Mess_IntegralNick;
+             Reading_IntegralPitch2 = Reading_IntegralPitch;
+            }
-            if(Mess_IntegralNick <-Umschlag180Nick)
+            if(Reading_IntegralPitch <-TurnOver180Pitch)
             {
-             Mess_IntegralNick =  (Umschlag180Nick - 10000L);
+             Reading_IntegralPitch =  (TurnOver180Pitch - 10000L);
-             Mess_IntegralNick2 = Mess_IntegralNick;
+             Reading_IntegralPitch2 = Reading_IntegralPitch;
             }
-            if(AdValueGyrNick < 15)   MesswertNick = -1000;
+            if(AdValueGyrPitch < 15)   ReadingPitch = -1000;
-            if(AdValueGyrNick <  7)   MesswertNick = -2000;
+            if(AdValueGyrPitch <  7)   ReadingPitch = -2000;
             if(BoardRelease == 10)
+                         {
-              if(AdValueGyrNick > 1010) MesswertNick = +1000;
+              if(AdValueGyrPitch > 1010) ReadingPitch = +1000;
-              if(AdValueGyrNick > 1017) MesswertNick = +2000;
+              if(AdValueGyrPitch > 1017) ReadingPitch = +2000;
+                         }
                          else
+                         {
-              if(AdValueGyrNick > 2020) MesswertNick = +1000;
+              if(AdValueGyrPitch > 2020) ReadingPitch = +1000;
-              if(AdValueGyrNick > 2034) MesswertNick = +2000;
+              if(AdValueGyrPitch > 2034) ReadingPitch = +2000;
                          }
 //++++++++++++++++++++++++++++++++++++++++++++++++
 // ADC einschalten
     ADC_Enable();
 //++++++++++++++++++++++++++++++++++++++++++++++++
-    Integral_Gier  = Mess_Integral_Gier;
+    Integral_Yaw  = Reading_Integral_Yaw;
-    IntegralNick = Mess_IntegralNick;
+    IntegralPitch = Reading_IntegralPitch;
-    IntegralRoll = Mess_IntegralRoll;
+    IntegralRoll = Reading_IntegralRoll;
-    IntegralNick2 = Mess_IntegralNick2;
+    IntegralPitch2 = Reading_IntegralPitch2;
-    IntegralRoll2 = Mess_IntegralRoll2;
+    IntegralRoll2 = Reading_IntegralRoll2;
-  if(ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER && !Looping_Nick && !Looping_Roll)
+  if(ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER && !Looping_Pitch && !Looping_Roll)
+  {
-    if(MesswertNick > 200)       MesswertNick += 4 * (MesswertNick - 200);
+    if(ReadingPitch > 200)       ReadingPitch += 4 * (ReadingPitch - 200);
-    else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200);
+    else if(ReadingPitch < -200) ReadingPitch += 4 * (ReadingPitch + 200);
     if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
+}
 //############################################################################
 // Messwerte beim Ermitteln der Nullage
-void CalibrierMittelwert(void)
+void CalibMean(void)
 //############################################################################
+{
     // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
         ADC_Disable();
-        MesswertNick = AdValueGyrNick;
+        ReadingPitch = AdValueGyrPitch;
-        MesswertRoll = AdValueGyrRoll;
+        ReadingRoll = AdValueGyrRoll;
-        MesswertGier = AdValueGyrGier;
+        ReadingYaw = AdValueGyrYaw;
-        Mittelwert_AccNick = ACC_AMPLIFY * (long)AdValueAccNick;
+        Mean_AccPitch = ACC_AMPLIFY * (long)AdValueAccPitch;
-        Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdValueAccRoll;
+        Mean_AccRoll = ACC_AMPLIFY * (long)AdValueAccRoll;
-        Mittelwert_AccHoch = (long)AdValueAccTop;
+        Mean_AccTop = (long)AdValueAccTop;
    // ADC einschalten
     ADC_Enable();
     if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
     if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
     if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
     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) ParamSet.WinkelUmschlagNick * 2500L;
+        TurnOver180Pitch = (long) ParamSet.AngleTurnOverPitch * 2500L;
-        Umschlag180Roll = (long) ParamSet.WinkelUmschlagNick * 2500L;
+        TurnOver180Roll = (long) ParamSet.AngleTurnOverRoll * 2500L;
+}
 //############################################################################
 // Senden der Motorwerte per I2C-Bus
 void SendMotorData(void)
 //############################################################################
+{
-    if(MOTOR_OFF || !MotorenEin)
+    if(MOTOR_OFF || !MotorsOn)
         {
-        Motor_Hinten = 0;
+        Motor_Rear = 0;
-        Motor_Vorne = 0;
+        Motor_Front = 0;
-        Motor_Rechts = 0;
+        Motor_Right = 0;
-        Motor_Links = 0;
+        Motor_Left = 0;
-        if(MotorTest[0]) Motor_Vorne = MotorTest[0];
+        if(MotorTest[0]) Motor_Front = MotorTest[0];
-        if(MotorTest[1]) Motor_Hinten = MotorTest[1];
+        if(MotorTest[1]) Motor_Rear = MotorTest[1];
-        if(MotorTest[2]) Motor_Links = MotorTest[2];
+        if(MotorTest[2]) Motor_Left = MotorTest[2];
-        if(MotorTest[3]) Motor_Rechts = MotorTest[3];
+        if(MotorTest[3]) Motor_Right = MotorTest[3];
         }
-    DebugOut.Analog[12] = Motor_Vorne;
+    DebugOut.Analog[12] = Motor_Front;
-    DebugOut.Analog[13] = Motor_Hinten;
+    DebugOut.Analog[13] = Motor_Rear;
-    DebugOut.Analog[14] = Motor_Links;
+    DebugOut.Analog[14] = Motor_Left;
-    DebugOut.Analog[15] = Motor_Rechts;
+    DebugOut.Analog[15] = Motor_Right;
 void ParameterZuordnung(void)
 //############################################################################
+{
  #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
- CHK_POTI(Parameter_MaxHoehe,ParamSet.MaxHoehe,0,255);
+ CHK_POTI(Parameter_MaxHoehe,ParamSet.MaxHight,0,255);
- CHK_POTI(Parameter_Luftdruck_D,ParamSet.Luftdruck_D,0,100);
+ CHK_POTI(Parameter_Luftdruck_D,ParamSet.AirPressure_D,0,100);
- CHK_POTI(Parameter_Hoehe_P,ParamSet.Hoehe_P,0,100);
+ CHK_POTI(Parameter_Hoehe_P,ParamSet.Hight_P,0,100);
- CHK_POTI(Parameter_Hoehe_ACC_Wirkung,ParamSet.Hoehe_ACC_Wirkung,0,255);
+ CHK_POTI(Parameter_Hoehe_ACC_Wirkung,ParamSet.Hight_ACC_Effect,0,255);
- CHK_POTI(Parameter_KompassWirkung,ParamSet.KompassWirkung,0,255);
+ CHK_POTI(Parameter_CompassYawEffect,ParamSet.CompassYawEffect,0,255);
  CHK_POTI(Parameter_Gyro_P,ParamSet.Gyro_P,10,255);
  CHK_POTI(Parameter_Gyro_I,ParamSet.Gyro_I,0,255);
  CHK_POTI(Parameter_I_Factor,ParamSet.I_Factor,0,255);
  CHK_POTI(Parameter_UserParam1,ParamSet.UserParam1,0,255);
  CHK_POTI(Parameter_UserParam4,ParamSet.UserParam4,0,255);
  CHK_POTI(Parameter_UserParam5,ParamSet.UserParam5,0,255);
  CHK_POTI(Parameter_UserParam6,ParamSet.UserParam6,0,255);
  CHK_POTI(Parameter_UserParam7,ParamSet.UserParam7,0,255);
  CHK_POTI(Parameter_UserParam8,ParamSet.UserParam8,0,255);
- CHK_POTI(Parameter_ServoNickControl,ParamSet.ServoNickControl,0,255);
+ CHK_POTI(Parameter_ServoPitchControl,ParamSet.ServoPitchControl,0,255);
  CHK_POTI(Parameter_LoopGasLimit,ParamSet.LoopGasLimit,0,255);
  CHK_POTI(Parameter_AchsKopplung1,    ParamSet.AchsKopplung1,0,255);
  CHK_POTI(Parameter_AchsGegenKopplung1,ParamSet.AchsGegenKopplung1,0,255);
  CHK_POTI(Parameter_DynamicStability,ParamSet.DynamicStability,0,255);
 //############################################################################
 //
 void MotorRegler(void)
 //############################################################################
+{
-         int motorwert,pd_ergebnis,h,tmp_int;
+         int MotorValue, pd_ergebnis, h, tmp_int;
-         int GierMischanteil,GasMischanteil;
+         int YawMixingFraction, GasMixingFraction;
-     static long SummeNick=0,SummeRoll=0;
+     static long SumPitch = 0, SumRoll = 0;
-     static long sollGier = 0,tmp_long,tmp_long2;
+     static long SetPointYaw = 0, tmp_long, tmp_long2;
-     static long IntegralFehlerNick = 0;
+     static long IntegralErrorPitch = 0;
-     static long IntegralFehlerRoll = 0;
+     static long IntegralErrorRoll = 0;
          static unsigned int RcLostTimer;
          static unsigned char delay_neutral = 0;
          static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
          static unsigned int  modell_fliegt = 0;
      static int hoehenregler = 0;
-     static char TimerWerteausgabe = 0;
+     static char TimerDebugOut = 0;
-     static char NeueKompassRichtungMerken = 0;
+     static char StoreNewCompassCourse = 0;
-     static long ausgleichNick, ausgleichRoll;
+     static long CorrectionPitch, CorrectionRoll;
-        Mittelwert();
+        Mean();
     GRN_ON;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Gaswert ermitteln
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-        GasMischanteil = StickGas;
+        GasMixingFraction = StickGas;
-    if(GasMischanteil < 0) GasMischanteil = 0;
+    if(GasMixingFraction < 0) GasMixingFraction = 0;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Emfang schlecht
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+            }
+         }
         if(RcLostTimer) RcLostTimer--;
         else
+         {
-          MotorenEin = 0;
+          MotorsOn = 0;
-          Notlandung = 0;
+          EmergencyLanding = 0;
+         }
         ROT_ON;
         if(modell_fliegt > 2000)  // wahrscheinlich in der Luft --> langsam absenken
+            {
-            GasMischanteil = ParamSet.EmergencyGas;
+            GasMixingFraction = ParamSet.EmergencyGas;
-            Notlandung = 1;
+            EmergencyLanding = 1;
-            PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0;
+            PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0;
             PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
-            PPM_in[ParamSet.ChannelAssignment[CH_GIER]] = 0;
+            PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;
+            }
-         else MotorenEin = 0;
+         else MotorsOn = 0;
+        }
         else
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Emfang gut
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
         if(SenderOkay > 140)
+            {
-            Notlandung = 0;
+            EmergencyLanding = 0;
             RcLostTimer = ParamSet.EmergencyGasDuration * 50;
-            if(GasMischanteil > 40)
+            if(GasMixingFraction > 40)
+                {
                 if(modell_fliegt < 0xffff) modell_fliegt++;
+                }
-            if((modell_fliegt < 200) || (GasMischanteil < 40))
+            if((modell_fliegt < 200) || (GasMixingFraction < 40))
+                {
-                SummeNick = 0;
+                SumPitch = 0;
-                SummeRoll = 0;
+                SumRoll = 0;
-                Mess_Integral_Gier = 0;
+                Reading_Integral_Yaw = 0;
-                Mess_Integral_Gier2 = 0;
+                Reading_Integral_Yaw2 = 0;
+                }
-            if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && MotorenEin == 0)
+            if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && MotorsOn == 0)
+                {
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // auf Nullwerte kalibrieren
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-                if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 75)  // Neutralwerte
+                if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)  // Neutralwerte
+                    {
                     if(++delay_neutral > 200)  // nicht sofort
+                        {
                         GRN_OFF;
-                        MotorenEin = 0;
+                        MotorsOn = 0;
                         delay_neutral = 0;
                         modell_fliegt = 0;
-                        if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)
+                        if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)
+                        {
                          unsigned char setting=1;
-                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1;
+                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1;
-                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2;
+                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2;
-                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3;
+                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3;
-                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4;
+                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4;
-                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5;
+                         if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5;
                          SetActiveParamSet(setting);  // aktiven Datensatz merken
+                        }
                         if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Höhenregelung aktiviert?
+                          {
-                             if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
+                             if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
+                          }
                             ParamSet_ReadFromEEProm(GetActiveParamSet());
                         SetNeutral();
                         Piep(GetActiveParamSet());
+                        }
+                    }
                  else
-                if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] < -75)  // ACC Neutralwerte speichern
+                if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)  // ACC Neutralwerte speichern
+                    {
                     if(++delay_neutral > 200)  // nicht sofort
+                        {
                         GRN_OFF;
-                        SetParamByte(PID_ACC_NICK,0xFF); // Werte löschen
+                        SetParamByte(PID_ACC_PITCH,0xFF); // Werte löschen
-                        MotorenEin = 0;
+                        MotorsOn = 0;
                         delay_neutral = 0;
                         modell_fliegt = 0;
                         SetNeutral();
-                        SetParamByte(PID_ACC_NICK, NeutralAccX / 256); // ACC-NeutralWerte speichern
+                        SetParamByte(PID_ACC_PITCH, NeutralAccX / 256); // ACC-NeutralWerte speichern
-                        SetParamByte(PID_ACC_NICK+1,NeutralAccX % 256); // ACC-NeutralWerte speichern
+                        SetParamByte(PID_ACC_PITCH+1,NeutralAccX % 256); // ACC-NeutralWerte speichern
                         SetParamByte(PID_ACC_ROLL,NeutralAccY / 256);
                         SetParamByte(PID_ACC_ROLL+1,NeutralAccY % 256);
                         SetParamByte(PID_ACC_Z,(int)NeutralAccZ / 256);
                         SetParamByte(PID_ACC_Z+1,(int)NeutralAccZ % 256);
                         Piep(GetActiveParamSet());
 // Gas ist unten
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
             if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < 35-120)
+                {
                 // Starten
-                if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] < -75)
+                if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
+                    {
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Einschalten
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                     if(++delay_einschalten > 200)
+                        {
                         delay_einschalten = 200;
                         modell_fliegt = 1;
-                        MotorenEin = 1;
+                        MotorsOn = 1;
-                        sollGier = 0;
+                        SetPointYaw = 0;
-                        Mess_Integral_Gier = 0;
+                        Reading_Integral_Yaw = 0;
-                        Mess_Integral_Gier2 = 0;
+                        Reading_Integral_Yaw2 = 0;
-                        Mess_IntegralNick = 0;
+                        Reading_IntegralPitch = 0;
-                        Mess_IntegralRoll = 0;
+                        Reading_IntegralRoll = 0;
-                        Mess_IntegralNick2 = IntegralNick;
+                        Reading_IntegralPitch2 = IntegralPitch;
-                        Mess_IntegralRoll2 = IntegralRoll;
+                        Reading_IntegralRoll2 = IntegralRoll;
-                        SummeNick = 0;
+                        SumPitch = 0;
-                        SummeRoll = 0;
+                        SumRoll = 0;
+                        }
+                    }
                     else delay_einschalten = 0;
                 //Auf Neutralwerte setzen
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Auschalten
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-                if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 75)
+                if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
+                    {
                     if(++delay_ausschalten > 200)  // nicht sofort
+                        {
-                        MotorenEin = 0;
+                        MotorsOn = 0;
                         delay_ausschalten = 200;
                         modell_fliegt = 0;
+                        }
+                    }
                 else delay_ausschalten = 0;
+            }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // neue Werte von der Funke
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- if(!NewPpmData-- || Notlandung)
+ if(!NewPpmData-- || EmergencyLanding)
+  {
-    int tmp_int;
-        static int stick_nick,stick_roll;
+    int tmp_int;
     ParameterZuordnung();
-    StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_P) / 4;
+    StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4;
-    StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_D;
+    StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D;
     StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;
     StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;
-    StickGier = -PPM_in[ParamSet.ChannelAssignment[CH_GIER]];
+    StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];
         StickGas  = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;
-   if(abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) > MaxStickNick)
+   if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch)
-     MaxStickNick = abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]); else MaxStickNick--;
+     MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); else MaxStickPitch--;
    if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll)
      MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); else MaxStickRoll--;
-   if(Notlandung)  {MaxStickNick = 0; MaxStickRoll = 0;}
+   if(EmergencyLanding)  {MaxStickPitch = 0; MaxStickRoll = 0;}
-    GyroFaktor     = ((float)Parameter_Gyro_P + 10.0) / 256.0;
+    GyroFactor     = ((float)Parameter_Gyro_P + 10.0) / 256.0;
-    IntegralFaktor = ((float) Parameter_Gyro_I) / 44000;
+    IntegralFactor = ((float) Parameter_Gyro_I) / 44000;
 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //+ Digitale Steuerung per DubWise
 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #define KEY_VALUE (Parameter_UserParam1 * 4)  //(Poti3 * 8)
 if(DubWiseKeys[1]) BeepTime = 10;
     if(DubWiseKeys[1] & DUB_KEY_UP)    tmp_int = KEY_VALUE;   else
     if(DubWiseKeys[1] & DUB_KEY_DOWN)  tmp_int = -KEY_VALUE;  else   tmp_int = 0;
-    ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8;
+    ExternStickPitch= (ExternStickPitch* 7 + tmp_int) / 8;
     if(DubWiseKeys[1] & DUB_KEY_LEFT)  tmp_int = KEY_VALUE; else
     if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0;
     ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;
-    if(DubWiseKeys[0] & 8)  ExternStickGier = 50;else
+    if(DubWiseKeys[0] & 8)  ExternStickYaw = 50;else
-    if(DubWiseKeys[0] & 4)  ExternStickGier =-50;else ExternStickGier = 0;
+    if(DubWiseKeys[0] & 4)  ExternStickYaw =-50;else ExternStickYaw = 0;
-    if(DubWiseKeys[0] & 2)  ExternHoehenValue++;
+    if(DubWiseKeys[0] & 2)  ExternHightValue++;
-    if(DubWiseKeys[0] & 16) ExternHoehenValue--;
+    if(DubWiseKeys[0] & 16) ExternHightValue--;
-    StickNick += ExternStickNick / 8;
+    StickPitch += ExternStickPitch/ 8;
     StickRoll += ExternStickRoll / 8;
-    StickGier += ExternStickGier;
+    StickYaw += ExternStickYaw;
 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //+ Analoge Steuerung per Seriell
 //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
    if(ExternControl.Config & 0x01 && Parameter_UserParam1 > 128)
     {
-         StickNick += (int) ExternControl.Nick * (int) ParamSet.Stick_P;
+         StickPitch += (int) ExternControl.Pitch * (int) ParamSet.Stick_P;
          StickRoll += (int) ExternControl.Roll * (int) ParamSet.Stick_P;
-         StickGier += ExternControl.Gier;
+         StickYaw += ExternControl.Yaw;
-     ExternHoehenValue =  (int) ExternControl.Hight * (int)ParamSet.Hoehe_Verstaerkung;
+     ExternHightValue =  (int) ExternControl.Hight * (int)ParamSet.Hight_Gain;
      if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
     }
-    if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
+    if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) IntegralFactor =  0;
-    if(GyroFaktor < 0) GyroFaktor = 0;
+    if(GyroFactor < 0) GyroFactor = 0;
-    if(IntegralFaktor < 0) IntegralFaktor = 0;
+    if(IntegralFactor < 0) IntegralFactor = 0;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Looping?
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-  if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT)  Looping_Links = 1;
+  if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT)  Looping_Left = 1;
   else
    {
+     {
-      if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Links = 0;
+      if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0;
+     }
+   }
-  if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Rechts = 1;
+  if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1;
    else
+   {
-   if(Looping_Rechts) // Hysterese
+   if(Looping_Right) // Hysterese
+     {
-      if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Rechts = 0;
+      if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0;
+     }
+   }
-  if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Oben = 1;
+  if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1;
   else
    {
-    if(Looping_Oben)  // Hysterese
+    if(Looping_Top)  // Hysterese
      {
-      if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Oben = 0;
+      if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0;
+     }
    }
-  if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Unten = 1;
+  if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1;
    else
+   {
-    if(Looping_Unten) // Hysterese
+    if(Looping_Down) // Hysterese
+     {
-      if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Unten = 0;
+      if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0;
+     }
+   }
-   if(Looping_Links || Looping_Rechts)   Looping_Roll = 1; else Looping_Roll = 0;
+   if(Looping_Left || Looping_Right)   Looping_Roll = 1; else Looping_Roll = 0;
-   if(Looping_Oben  || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0;
+   if(Looping_Top  || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0;
   } // Ende neue Funken-Werte
   if(Looping_Roll) BeepTime = 100;
-  if(Looping_Roll || Looping_Nick)
+  if(Looping_Roll || Looping_Pitch)
    {
-    if(GasMischanteil > ParamSet.LoopGasLimit) GasMischanteil = ParamSet.LoopGasLimit;
+    if(GasMixingFraction > ParamSet.LoopGasLimit) GasMixingFraction = ParamSet.LoopGasLimit;
+   }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Bei Empfangsausfall im Flug
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-   if(Notlandung)
+   if(EmergencyLanding)
     {
-     StickGier = 0;
+     StickYaw = 0;
-     StickNick = 0;
+     StickPitch = 0;
      StickRoll = 0;
-     GyroFaktor  = 0.5;//Originalwert von Holger 0.1;
+     GyroFactor  = 0.5;//Originalwert von Holger 0.1;
-     IntegralFaktor = 0.003; //Originalwert von Holger 0.005;
+     IntegralFactor = 0.003; //Originalwert von Holger 0.005;
      Looping_Roll = 0;
-     Looping_Nick = 0;
+     Looping_Pitch = 0;
     }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Integrale auf ACC-Signal abgleichen
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #define ABGLEICH_ANZAHL 256L
- MittelIntegralNick  += IntegralNick;    // Für die Mittelwertbildung aufsummieren
+ MeanIntegralPitch  += IntegralPitch;    // Für die Mittelwertbildung aufsummieren
- MittelIntegralRoll  += IntegralRoll;
+ MeanIntegralRoll  += IntegralRoll;
- MittelIntegralNick2 += IntegralNick2;
+ MeanIntegralPitch2 += IntegralPitch2;
- MittelIntegralRoll2 += IntegralRoll2;
+ MeanIntegralRoll2 += IntegralRoll2;
- if(Looping_Nick || Looping_Roll)
+ if(Looping_Pitch || Looping_Roll)
   {
-    IntegralAccNick = 0;
+    IntegralAccPitch = 0;
     IntegralAccRoll = 0;
-    MittelIntegralNick = 0;
+    MeanIntegralPitch = 0;
-    MittelIntegralRoll = 0;
+    MeanIntegralRoll = 0;
-    MittelIntegralNick2 = 0;
+    MeanIntegralPitch2 = 0;
-    MittelIntegralRoll2 = 0;
+    MeanIntegralRoll2 = 0;
-    Mess_IntegralNick2 = Mess_IntegralNick;
+    Reading_IntegralPitch2 = Reading_IntegralPitch;
-    Mess_IntegralRoll2 = Mess_IntegralRoll;
+    Reading_IntegralRoll2 = Reading_IntegralRoll;
     ZaehlMessungen = 0;
-    LageKorrekturNick = 0;
+    AttitudeCorrectionPitch = 0;
-    LageKorrekturRoll = 0;
+    AttitudeCorrectionRoll = 0;
+  }
     if(tmp_long >  AUSGLEICH)  tmp_long  = AUSGLEICH;
     if(tmp_long < -AUSGLEICH)  tmp_long  =-AUSGLEICH;
     if(tmp_long2 > AUSGLEICH)  tmp_long2 = AUSGLEICH;
     if(tmp_long2 <-AUSGLEICH)  tmp_long2 =-AUSGLEICH;
-    Mess_IntegralNick -= tmp_long;
+    Reading_IntegralPitch -= tmp_long;
-    Mess_IntegralRoll -= tmp_long2;
+    Reading_IntegralRoll -= tmp_long2;
+  }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  if(ZaehlMessungen >= ABGLEICH_ANZAHL)
+ {
   static int cnt = 0;
   static char last_n_p,last_n_n,last_r_p,last_r_n;
-  static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt;
+  static long MeanIntegralPitch_old,MeanIntegralRoll_old;
-  if(!Looping_Nick && !Looping_Roll)
+  if(!Looping_Pitch && !Looping_Roll)
   {
-    MittelIntegralNick  /= ABGLEICH_ANZAHL;
+    MeanIntegralPitch  /= ABGLEICH_ANZAHL;
-    MittelIntegralRoll  /= ABGLEICH_ANZAHL;
+    MeanIntegralRoll  /= ABGLEICH_ANZAHL;
-        IntegralAccNick = (ParamSet.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL;
+        IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / ABGLEICH_ANZAHL;
         IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
     IntegralAccZ    = IntegralAccZ / ABGLEICH_ANZAHL;
 #define MAX_I 0//(Poti2/10)
-// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
+// Pitch ++++++++++++++++++++++++++++++++++++++++++++++++
-    IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
+    IntegralErrorPitch = (long)(MeanIntegralPitch - (long)IntegralAccPitch);
-    ausgleichNick = IntegralFehlerNick / ParamSet.GyroAccAbgleich;
+    CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim;
 // Roll ++++++++++++++++++++++++++++++++++++++++++++++++
-    IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
+    IntegralErrorRoll = (long)(MeanIntegralRoll - (long)IntegralAccRoll);
-    ausgleichRoll = IntegralFehlerRoll / ParamSet.GyroAccAbgleich;
+    CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim;
-    LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
+    AttitudeCorrectionPitch = CorrectionPitch / ABGLEICH_ANZAHL;
-    LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
+    AttitudeCorrectionRoll = CorrectionRoll / ABGLEICH_ANZAHL;
-   if((MaxStickNick > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_GIER]]) > 25))
+   if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25))
+    {
-     LageKorrekturNick /= 2;
+     AttitudeCorrectionPitch /= 2;
-     LageKorrekturNick /= 2;
+     AttitudeCorrectionPitch /= 2;
     }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Gyro-Drift ermitteln
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    MittelIntegralNick2 /= ABGLEICH_ANZAHL;
+    MeanIntegralPitch2 /= ABGLEICH_ANZAHL;
-    MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
+    MeanIntegralRoll2 /= ABGLEICH_ANZAHL;
-    tmp_long  = IntegralNick2 - IntegralNick;
+    tmp_long  = IntegralPitch2 - IntegralPitch;
     tmp_long2 = IntegralRoll2 - IntegralRoll;
-    //DebugOut.Analog[25] = MittelIntegralRoll2 / 26;
+    //DebugOut.Analog[25] = MeanIntegralRoll2 / 26;
-    IntegralFehlerNick = tmp_long;
+    IntegralErrorPitch = tmp_long;
-    IntegralFehlerRoll = tmp_long2;
+    IntegralErrorRoll = tmp_long2;
-    Mess_IntegralNick2 -= IntegralFehlerNick;
+    Reading_IntegralPitch2 -= IntegralErrorPitch;
-    Mess_IntegralRoll2 -= IntegralFehlerRoll;
+    Reading_IntegralRoll2 -= IntegralErrorRoll;
-//    IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2;
+//    IntegralErrorPitch = (IntegralErrorPitch * 1 + tmp_long) / 2;
-//    IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2;
+//    IntegralErrorRoll = (IntegralErrorRoll * 1 + tmp_long2) / 2;
-DebugOut.Analog[17] = IntegralAccNick / 26;
+DebugOut.Analog[17] = IntegralAccPitch / 26;
 DebugOut.Analog[18] = IntegralAccRoll / 26;
-DebugOut.Analog[19] = IntegralFehlerNick;// / 26;
+DebugOut.Analog[19] = IntegralErrorPitch;// / 26;
-DebugOut.Analog[20] = IntegralFehlerRoll;// / 26;
+DebugOut.Analog[20] = IntegralErrorRoll;// / 26;
-DebugOut.Analog[21] = MittelIntegralNick / 26;
+DebugOut.Analog[21] = MeanIntegralPitch / 26;
-DebugOut.Analog[22] = MittelIntegralRoll / 26;
+DebugOut.Analog[22] = MeanIntegralRoll / 26;
-//DebugOut.Analog[28] = ausgleichNick;
+//DebugOut.Analog[28] = CorrectionPitch;
-DebugOut.Analog[29] = ausgleichRoll;
+DebugOut.Analog[29] = CorrectionRoll;
-DebugOut.Analog[30] = LageKorrekturRoll * 10;
+DebugOut.Analog[30] = AttitudeCorrectionRoll * 10;
 #define FEHLER_LIMIT  (ABGLEICH_ANZAHL * 4)
 #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16)
 #define BEWEGUNGS_LIMIT 20000
-// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
+// Pitch +++++++++++++++++++++++++++++++++++++++++++++++++
-        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
+        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
-        if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT)
+        if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < BEWEGUNGS_LIMIT)
+        {
-        if(IntegralFehlerNick >  FEHLER_LIMIT2)
+        if(IntegralErrorPitch >  FEHLER_LIMIT2)
          {
            if(last_n_p)
+           {
-            cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2;
+            cnt += labs(IntegralErrorPitch) / FEHLER_LIMIT2;
-            ausgleichNick = IntegralFehlerNick / 8;
+            CorrectionPitch = IntegralErrorPitch / 8;
-            if(ausgleichNick > 5000) ausgleichNick = 5000;
+            if(CorrectionPitch > 5000) CorrectionPitch = 5000;
-            LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
+            AttitudeCorrectionPitch += CorrectionPitch / ABGLEICH_ANZAHL;
            }
            else last_n_p = 1;
          } else  last_n_p = 0;
-        if(IntegralFehlerNick < -FEHLER_LIMIT2)
+        if(IntegralErrorPitch < -FEHLER_LIMIT2)
+         {
            if(last_n_n)
             {
-             cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2;
+             cnt += labs(IntegralErrorPitch) / FEHLER_LIMIT2;
-             ausgleichNick = IntegralFehlerNick / 8;
+             CorrectionPitch = IntegralErrorPitch / 8;
-             if(ausgleichNick < -5000) ausgleichNick = -5000;
+             if(CorrectionPitch < -5000) CorrectionPitch = -5000;
-             LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
+             AttitudeCorrectionPitch += CorrectionPitch / ABGLEICH_ANZAHL;
             }
            else last_n_n = 1;
          } else  last_n_n = 0;
         } else cnt = 0;
         if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
-        if(IntegralFehlerNick >  FEHLER_LIMIT)   AdNeutralNick += cnt;
+        if(IntegralErrorPitch >  FEHLER_LIMIT)   AdNeutralPitch += cnt;
-        if(IntegralFehlerNick < -FEHLER_LIMIT)   AdNeutralNick -= cnt;
+        if(IntegralErrorPitch < -FEHLER_LIMIT)   AdNeutralPitch -= cnt;
 // Roll +++++++++++++++++++++++++++++++++++++++++++++++++
-        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
+        cnt = 1;// + labs(IntegralErrorPitch) / 4096;
-        ausgleichRoll = 0;
+        CorrectionRoll = 0;
-        if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT)
+        if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < BEWEGUNGS_LIMIT)
         {
-        if(IntegralFehlerRoll >  FEHLER_LIMIT2)
+        if(IntegralErrorRoll >  FEHLER_LIMIT2)
+         {
            if(last_r_p)
            {
-            cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2;
+            cnt += labs(IntegralErrorRoll) / FEHLER_LIMIT2;
-            ausgleichRoll = IntegralFehlerRoll / 8;
+            CorrectionRoll = IntegralErrorRoll / 8;
-            if(ausgleichRoll > 5000) ausgleichRoll = 5000;
+            if(CorrectionRoll > 5000) CorrectionRoll = 5000;
-            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
+            AttitudeCorrectionRoll += CorrectionRoll / ABGLEICH_ANZAHL;
+           }
            else last_r_p = 1;
          } else  last_r_p = 0;
-        if(IntegralFehlerRoll < -FEHLER_LIMIT2)
+        if(IntegralErrorRoll < -FEHLER_LIMIT2)
+         {
            if(last_r_n)
+           {
-            cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2;
+            cnt += labs(IntegralErrorRoll) / FEHLER_LIMIT2;
-            ausgleichRoll = IntegralFehlerRoll / 8;
+            CorrectionRoll = IntegralErrorRoll / 8;
-            if(ausgleichRoll < -5000) ausgleichRoll = -5000;
+            if(CorrectionRoll < -5000) CorrectionRoll = -5000;
-            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
+            AttitudeCorrectionRoll += CorrectionRoll / ABGLEICH_ANZAHL;
+           }
            else last_r_n = 1;
          } else  last_r_n = 0;
         } else
         {
          cnt = 0;
+        }
         if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
-        if(IntegralFehlerRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
+        if(IntegralErrorRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
-        if(IntegralFehlerRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
+        if(IntegralErrorRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
-DebugOut.Analog[27] = ausgleichRoll;
+DebugOut.Analog[27] = CorrectionRoll;
-DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick);
+DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch);
 DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
+  }
   else
   {
-   LageKorrekturRoll = 0;
+   AttitudeCorrectionRoll = 0;
-   LageKorrekturNick = 0;
+   AttitudeCorrectionPitch = 0;
+  }
-  if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
+  if(!IntegralFactor) { AttitudeCorrectionRoll = 0; AttitudeCorrectionPitch = 0;} // z.B. bei HH
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++
-   MittelIntegralNick_Alt = MittelIntegralNick;
+   MeanIntegralPitch_old = MeanIntegralPitch;
-   MittelIntegralRoll_Alt = MittelIntegralRoll;
+   MeanIntegralRoll_old = MeanIntegralRoll;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++
-    IntegralAccNick = 0;
+    IntegralAccPitch = 0;
     IntegralAccRoll = 0;
     IntegralAccZ = 0;
-    MittelIntegralNick = 0;
+    MeanIntegralPitch = 0;
-    MittelIntegralRoll = 0;
+    MeanIntegralRoll = 0;
-    MittelIntegralNick2 = 0;
+    MeanIntegralPitch2 = 0;
-    MittelIntegralRoll2 = 0;
+    MeanIntegralRoll2 = 0;
     ZaehlMessungen = 0;
  }
-//DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor);
+//DebugOut.Analog[31] = StickRoll / (26*IntegralFactor);
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //  Gieren
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    if(abs(StickGier) > 20) // war 35
+    if(abs(StickYaw) > 20) // war 35
      {
-      if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) NeueKompassRichtungMerken = 1;
+      if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1;
+     }
-    tmp_int  = (long) ParamSet.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo  y = ax + bx²
+    tmp_int  = (long) ParamSet.Yaw_P * ((long)StickYaw * abs(StickYaw)) / 512L; // expo  y = ax + bx²
-    tmp_int += (ParamSet.Gier_P * StickGier) / 4;
+    tmp_int += (ParamSet.Yaw_P * StickYaw) / 4;
-    sollGier = tmp_int;
+    SetPointYaw = tmp_int;
-    Mess_Integral_Gier -= tmp_int;
+    Reading_Integral_Yaw -= tmp_int;
-    if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000;  // begrenzen
+    if(Reading_Integral_Yaw > 50000) Reading_Integral_Yaw = 50000;  // begrenzen
-    if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
+    if(Reading_Integral_Yaw <-50000) Reading_Integral_Yaw =-50000;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //  Kompass
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
     if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)
+    {
         int w,v;
-            static uint8_t updKompass = 0;
+            static uint8_t updCompass = 0;
-                if (!updKompass--)              // Aufruf mit ~10 Hz
+                if (!updCompass--)              // Aufruf mit ~10 Hz
                 {
-                        KompassValue = MM3_heading(); // get current compass reading
+                        CompassHeading = MM3_heading(); // get current compass reading
-                        KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
+                        CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180;
-                        updKompass = 50;
+                        updCompass = 50;
+                }
-        w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
+        w = abs(IntegralPitch /512); // mit zunehmender Neigung den Einfluss drosseln
         v = abs(IntegralRoll /512);
         if(v > w) w = v; // grösste Neigung ermitteln
-        if(w < 35 && NeueKompassRichtungMerken)
+        if(w < 35 && StoreNewCompassCourse)
          {
-          KompassStartwert = KompassValue;
+          CompassCourse = CompassHeading;
-          NeueKompassRichtungMerken = 0;
+          StoreNewCompassCourse = 0;
          }
-        w = (w * Parameter_KompassWirkung) / 64;           // auf die Wirkung normieren
+        w = (w * Parameter_CompassYawEffect) / 64;           // auf die Wirkung normieren
-        w = Parameter_KompassWirkung - w;                  // Wirkung ggf drosseln
+        w = Parameter_CompassYawEffect - w;                  // Wirkung ggf drosseln
         if(w > 0)
         {
-                        Mess_Integral_Gier += (KompassRichtung * w) / 32;  // nach Kompass ausrichten
+                        Reading_Integral_Yaw -= (CompassOffCourse * w) / 32;  // nach Kompass ausrichten
+           }
      }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //  Debugwerte zuordnen
     DebugOut.Analog[22] = motor_rx[5];
     DebugOut.Analog[23] = motor_rx[6];
     DebugOut.Analog[24] = motor_rx[7];
     DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
 */
-//    DebugOut.Analog[9] = MesswertNick;
+//    DebugOut.Analog[9] = ReadingPitch;
-//    DebugOut.Analog[9] = SollHoehe;
+//    DebugOut.Analog[9] = SetPointHight;
-//    DebugOut.Analog[10] = Mess_Integral_Gier / 128;
+//    DebugOut.Analog[10] = Reading_Integral_Yaw / 128;
-//    DebugOut.Analog[11] = KompassStartwert;
+//    DebugOut.Analog[11] = CompassCourse;
 //    DebugOut.Analog[10] = Parameter_Gyro_I;
 //    DebugOut.Analog[10] = ParamSet.Gyro_I;
-//    DebugOut.Analog[9] = KompassRichtung;
+//    DebugOut.Analog[9] = CompassOffCourse;
-//    DebugOut.Analog[10] = GasMischanteil;
+//    DebugOut.Analog[10] = GasMixingFraction;
 //    DebugOut.Analog[3] = HoeheD * 32;
 //    DebugOut.Analog[4] = hoehenregler;
+  }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 //  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-//DebugOut.Analog[26] = MesswertNick;
+//DebugOut.Analog[26] = ReadingPitch;
-//DebugOut.Analog[28] = MesswertRoll;
+//DebugOut.Analog[28] = ReadingRoll;
-    if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor;
+    if(Looping_Pitch) ReadingPitch = ReadingPitch * GyroFactor;
-    else             MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor;
+    else             ReadingPitch = IntegralPitch * IntegralFactor + ReadingPitch * GyroFactor;
-    if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor;
+    if(Looping_Roll) ReadingRoll = ReadingRoll * GyroFactor;
-    else             MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor;
+    else             ReadingRoll = IntegralRoll * IntegralFactor + ReadingRoll * GyroFactor;
-    MesswertGier = MesswertGier * (2 * GyroFaktor) + Integral_Gier * IntegralFaktor / 2;
+    ReadingYaw = ReadingYaw * (2 * GyroFactor) + Integral_Yaw * IntegralFactor / 2;
-DebugOut.Analog[25] = IntegralRoll * IntegralFaktor;
+DebugOut.Analog[25] = IntegralRoll * IntegralFactor;
-DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor);
+DebugOut.Analog[31] = StickRoll;// / (26*IntegralFactor);
-DebugOut.Analog[28] = MesswertRoll;
+DebugOut.Analog[28] = ReadingRoll;
     // Maximalwerte abfangen
     #define MAX_SENSOR  2048
-    if(MesswertNick >  MAX_SENSOR) MesswertNick =  MAX_SENSOR;
+    if(ReadingPitch >  MAX_SENSOR) ReadingPitch =  MAX_SENSOR;
-    if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
+    if(ReadingPitch < -MAX_SENSOR) ReadingPitch = -MAX_SENSOR;
-    if(MesswertRoll >  MAX_SENSOR) MesswertRoll =  MAX_SENSOR;
+    if(ReadingRoll >  MAX_SENSOR) ReadingRoll =  MAX_SENSOR;
-    if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
+    if(ReadingRoll < -MAX_SENSOR) ReadingRoll = -MAX_SENSOR;
-    if(MesswertGier >  MAX_SENSOR) MesswertGier =  MAX_SENSOR;
+    if(ReadingYaw >  MAX_SENSOR) ReadingYaw =  MAX_SENSOR;
-    if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
+    if(ReadingYaw < -MAX_SENSOR) ReadingYaw = -MAX_SENSOR;
     int tmp_int;
     if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH)  // Regler wird über Schalter gesteuert
+    {
      if(Parameter_MaxHoehe < 50)
+      {
-       SollHoehe = HoehenWert - 20;  // Parameter_MaxHoehe ist der PPM-Wert des Schalters
+       SetPointHight = ReadingHight - 20;  // Parameter_MaxHoehe ist der PPM-Wert des Schalters
-       HoehenReglerAktiv = 0;
+       HightControlActive = 0;
+      }
       else
-        HoehenReglerAktiv = 1;
+        HightControlActive = 1;
+    }
     else
+    {
-     SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)ParamSet.Hoehe_Verstaerkung - 20;
+     SetPointHight = ((int) ExternHightValue + (int) Parameter_MaxHoehe) * (int)ParamSet.Hight_Gain - 20;
-     HoehenReglerAktiv = 1;
+     HightControlActive = 1;
+    }
-    if(Notlandung) SollHoehe = 0;
+    if(EmergencyLanding) SetPointHight = 0;
-    h = HoehenWert;
+    h = ReadingHight;
-    if((h > SollHoehe) && HoehenReglerAktiv)      // zu hoch --> drosseln
+    if((h > SetPointHight) && HightControlActive)      // zu hoch --> drosseln
-     {      h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil
+     {      h = ((h - SetPointHight) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil
-      h = GasMischanteil - h;         // vom Gas abziehen
+      h = GasMixingFraction - h;         // vom Gas abziehen
       h -= (HoeheD * Parameter_Luftdruck_D)/8;    // D-Anteil
-      tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32;
+      tmp_int = ((Reading_Integral_Top / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32;
       if(tmp_int > 50) tmp_int = 50;
       else if(tmp_int < -50) tmp_int = -50;
       h -= tmp_int;
       hoehenregler = (hoehenregler*15 + h) / 16;
-      if(hoehenregler < ParamSet.Hoehe_MinGas) // nicht unter MIN
+      if(hoehenregler < ParamSet.Hight_MinGas) // nicht unter MIN
        {
-         if(GasMischanteil >= ParamSet.Hoehe_MinGas) hoehenregler = ParamSet.Hoehe_MinGas;
+         if(GasMixingFraction >= ParamSet.Hight_MinGas) hoehenregler = ParamSet.Hight_MinGas;
-         if(GasMischanteil < ParamSet.Hoehe_MinGas) hoehenregler = GasMischanteil;
+         if(GasMixingFraction < ParamSet.Hight_MinGas) hoehenregler = GasMixingFraction;
        }
-      if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas
+      if(hoehenregler > GasMixingFraction) hoehenregler = GasMixingFraction; // nicht mehr als Gas
-      GasMischanteil = hoehenregler;
+      GasMixingFraction = hoehenregler;
+     }
   }
-  if(GasMischanteil > MAX_GAS - 20) GasMischanteil = MAX_GAS - 20;
+  if(GasMixingFraction > MAX_GAS - 20) GasMixingFraction = MAX_GAS - 20;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Mischer und PI-Regler
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-  DebugOut.Analog[7] = GasMischanteil;
+  DebugOut.Analog[7] = GasMixingFraction;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Gier-Anteil
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 #define MUL_G  1.0
-    GierMischanteil = MesswertGier - sollGier;     // Regler für Gier
+    YawMixingFraction = ReadingYaw - SetPointYaw;     // Regler für Gier
-// GierMischanteil = 0;
+// YawMixingFraction = 0;
-    if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
+    if(YawMixingFraction > (GasMixingFraction / 2)) YawMixingFraction = GasMixingFraction / 2;
-    if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
+    if(YawMixingFraction < -(GasMixingFraction / 2)) YawMixingFraction = -(GasMixingFraction / 2);
-    if(GierMischanteil > ((MAX_GAS - GasMischanteil))) GierMischanteil = ((MAX_GAS - GasMischanteil));
+    if(YawMixingFraction > ((MAX_GAS - GasMixingFraction))) YawMixingFraction = ((MAX_GAS - GasMixingFraction));
-    if(GierMischanteil < -((MAX_GAS - GasMischanteil))) GierMischanteil = -((MAX_GAS - GasMischanteil));
+    if(YawMixingFraction < -((MAX_GAS - GasMixingFraction))) YawMixingFraction = -((MAX_GAS - GasMixingFraction));
-    if(GasMischanteil < 20) GierMischanteil = 0;
+    if(GasMixingFraction < 20) YawMixingFraction = 0;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-// Nick-Achse
+// Pitch-Achse
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-    DiffNick = MesswertNick - (StickNick - GPS_Nick);   // Differenz bestimmen
+    DiffPitch = ReadingPitch - (StickPitch - GPS_Pitch);        // Differenz bestimmen
-    if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - (StickNick - GPS_Nick); // I-Anteil bei Winkelregelung
+    if(IntegralFactor) SumPitch += IntegralPitch * IntegralFactor - (StickPitch - GPS_Pitch); // I-Anteil bei Winkelregelung
-    else  SummeNick += DiffNick; // I-Anteil bei HH
+    else  SumPitch += DiffPitch; // I-Anteil bei HH
-    if(SummeNick >  16000) SummeNick =  16000;
+    if(SumPitch >  16000) SumPitch =  16000;
-    if(SummeNick < -16000) SummeNick = -16000;
+    if(SumPitch < -16000) SumPitch = -16000;
-    pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick
+    pd_ergebnis = DiffPitch + Ki * SumPitch; // PI-Regler für Pitch
     // Motor Vorn
-    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
+    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMixingFraction + abs(YawMixingFraction)/2)) / 64;
     if(pd_ergebnis >  tmp_int) pd_ergebnis =  tmp_int;
     if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int;
-    motorwert = GasMischanteil + pd_ergebnis + GierMischanteil;   // Mischer
+    MotorValue = GasMixingFraction + pd_ergebnis + YawMixingFraction;     // Mischer
-        if ((motorwert < 0)) motorwert = 0;
+        if ((MotorValue < 0)) MotorValue = 0;
-        else if(motorwert > MAX_GAS)        motorwert = MAX_GAS;
+        else if(MotorValue > MAX_GAS)       MotorValue = MAX_GAS;
-        if (motorwert < MIN_GAS)            motorwert = MIN_GAS;
+        if (MotorValue < MIN_GAS)            MotorValue = MIN_GAS;
-        Motor_Vorne = motorwert;
+        Motor_Front = MotorValue;
     // Motor Heck
-        motorwert = GasMischanteil - pd_ergebnis + GierMischanteil;
+        MotorValue = GasMixingFraction - pd_ergebnis + YawMixingFraction;
-        if ((motorwert < 0)) motorwert = 0;
+        if ((MotorValue < 0)) MotorValue = 0;
-        else if(motorwert > MAX_GAS)        motorwert = MAX_GAS;
+        else if(MotorValue > MAX_GAS)       MotorValue = MAX_GAS;
-        if (motorwert < MIN_GAS)            motorwert = MIN_GAS;
+        if (MotorValue < MIN_GAS)            MotorValue = MIN_GAS;
-        Motor_Hinten = motorwert;
+        Motor_Rear = MotorValue;
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Roll-Achse
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-        DiffRoll = MesswertRoll - (StickRoll  - GPS_Roll);      // Differenz bestimmen
+        DiffRoll = ReadingRoll - (StickRoll  - GPS_Roll);       // Differenz bestimmen
-    if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - (StickRoll  - GPS_Roll);// I-Anteil bei Winkelregelung
+    if(IntegralFactor) SumRoll += IntegralRoll * IntegralFactor - (StickRoll  - GPS_Roll);// I-Anteil bei Winkelregelung
-    else                 SummeRoll += DiffRoll;  // I-Anteil bei HH
+    else                 SumRoll += DiffRoll;  // I-Anteil bei HH
-    if(SummeRoll >  16000) SummeRoll =  16000;
+    if(SumRoll >  16000) SumRoll =  16000;
-    if(SummeRoll < -16000) SummeRoll = -16000;
+    if(SumRoll < -16000) SumRoll = -16000;
-    pd_ergebnis = DiffRoll + Ki * SummeRoll;    // PI-Regler für Roll
+    pd_ergebnis = DiffRoll + Ki * SumRoll;      // PI-Regler für Roll
-    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
+    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMixingFraction + abs(YawMixingFraction)/2)) / 64;
     if(pd_ergebnis >  tmp_int) pd_ergebnis =  tmp_int;
     if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int;
     // Motor Links
-    motorwert = GasMischanteil + pd_ergebnis - GierMischanteil;
+    MotorValue = GasMixingFraction + pd_ergebnis - YawMixingFraction;
 #define GRENZE Poti1
-        if ((motorwert < 0)) motorwert = 0;
+        if ((MotorValue < 0)) MotorValue = 0;
-        else if(motorwert > MAX_GAS)            motorwert = MAX_GAS;
+        else if(MotorValue > MAX_GAS)           MotorValue = MAX_GAS;
-        if (motorwert < MIN_GAS)            motorwert = MIN_GAS;
+        if (MotorValue < MIN_GAS)            MotorValue = MIN_GAS;
-    Motor_Links = motorwert;
+    Motor_Left = MotorValue;
     // Motor Rechts
-        motorwert = GasMischanteil - pd_ergebnis - GierMischanteil;
+        MotorValue = GasMixingFraction - pd_ergebnis - YawMixingFraction;
-        if ((motorwert < 0)) motorwert = 0;
+        if ((MotorValue < 0)) MotorValue = 0;

Subversion Repositories FlightCtrl

(root)/branches/V0.68d Code Redesign killagreg/fc.c @ 702 - Rev 700 → 701