Rev 745 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 745 | Rev 746 | ||
|---|---|---|---|
| Line 203... | Line 203... | ||
| 203 | CompassCourse = CompassHeading; |
203 | CompassCourse = CompassHeading; |
| 204 | BeepTime = 50; |
204 | BeepTime = 50; |
| 205 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
205 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| 206 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
206 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| 207 | ExternHightValue = 0; |
207 | ExternHightValue = 0; |
| 208 | GPS_Pitch = 0; |
208 | GPS_Neutral(); |
| 209 | GPS_Roll = 0; |
- | |
| 210 | } |
209 | } |
| Line 211... | Line 210... | ||
| 211 | 210 | ||
| 212 | /************************************************************************/ |
211 | /************************************************************************/ |
| 213 | /* Averaging Measurement Readings */ |
212 | /* Averaging Measurement Readings */ |
| Line 604... | Line 603... | ||
| 604 | Reading_IntegralGyroRoll = 0; |
603 | Reading_IntegralGyroRoll = 0; |
| 605 | Reading_IntegralGyroPitch2 = IntegralPitch; |
604 | Reading_IntegralGyroPitch2 = IntegralPitch; |
| 606 | Reading_IntegralGyroRoll2 = IntegralRoll; |
605 | Reading_IntegralGyroRoll2 = IntegralRoll; |
| 607 | SumPitch = 0; |
606 | SumPitch = 0; |
| 608 | SumRoll = 0; |
607 | SumRoll = 0; |
| - | 608 | GPS_SetHomePosition(); |
|
| 609 | } |
609 | } |
| 610 | } |
610 | } |
| 611 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
611 | else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
| 612 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
612 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 613 | // and yaw stick is leftmost --> stop motors |
613 | // and yaw stick is leftmost --> stop motors |
| Line 1054... | Line 1054... | ||
| 1054 | GPS_D_Factor = FCParam.UserParam6; |
1054 | GPS_D_Factor = FCParam.UserParam6; |
| 1055 | GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
1055 | GPS_Main(); // updates GPS_Pitch and GPS_Roll on new GPS data |
| 1056 | } |
1056 | } |
| 1057 | else |
1057 | else |
| 1058 | { |
1058 | { |
| 1059 | GPS_Pitch = 0; |
1059 | GPS_Neutral(); |
| 1060 | GPS_Roll = 0; |
- | |
| 1061 | } |
1060 | } |
| Line 1062... | Line 1061... | ||
| 1062 | 1061 | ||
| 1063 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1062 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1064 | // Debugwerte zuordnen |
1063 | // Debugwerte zuordnen |