Rev 1298 | Rev 1312 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1298 | Rev 1309 | ||
|---|---|---|---|
| Line 342... | Line 342... | ||
| 342 | UpdateMotor=0; |
342 | UpdateMotor=0; |
| 343 | if(WinkelOut.CalcState) CalMk3Mag(); |
343 | if(WinkelOut.CalcState) CalMk3Mag(); |
| 344 | else MotorRegler(); |
344 | else MotorRegler(); |
| 345 | SendMotorData(); |
345 | SendMotorData(); |
| 346 | ROT_OFF; |
346 | ROT_OFF; |
| 347 | if(PcZugriff) PcZugriff--; |
- | |
| 348 | else |
- | |
| 349 | { |
- | |
| 350 | ExternControl.Config = 0; |
- | |
| 351 | ExternStickNick = 0; |
- | |
| 352 | ExternStickRoll = 0; |
- | |
| 353 | ExternStickGier = 0; |
- | |
| 354 | } |
- | |
| 355 | if(SenderOkay) SenderOkay--; |
347 | if(SenderOkay) SenderOkay--; |
| 356 | else |
- | |
| 357 | { |
- | |
| 358 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
348 | else TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
| 359 | } |
- | |
| - | 349 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 360 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
350 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
| 361 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
351 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
| - | 352 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 362 | if(NaviDataOkay) |
353 | if(NaviDataOkay) |
| 363 | { |
354 | { |
| 364 | if(--NaviDataOkay == 0) |
355 | if(--NaviDataOkay == 0) |
| 365 | { |
356 | { |
| 366 | GPS_Nick = 0; |
357 | GPS_Nick = 0; |
| Line 390... | Line 381... | ||
| 390 | BearbeiteRxDaten(); |
381 | BearbeiteRxDaten(); |
| 391 | } |
382 | } |
| 392 | else BearbeiteRxDaten(); |
383 | else BearbeiteRxDaten(); |
| 393 | if(CheckDelay(timer)) |
384 | if(CheckDelay(timer)) |
| 394 | { |
385 | { |
| - | 386 | if(PcZugriff) PcZugriff--; |
|
| - | 387 | else |
|
| - | 388 | { |
|
| - | 389 | ExternControl.Config = 0; |
|
| - | 390 | ExternStickNick = 0; |
|
| - | 391 | ExternStickRoll = 0; |
|
| - | 392 | ExternStickGier = 0; |
|
| - | 393 | if(BeepMuster == 0xffff && SenderOkay == 0) |
|
| - | 394 | { |
|
| - | 395 | beeptime = 15000; |
|
| - | 396 | BeepMuster = 0x0c00; |
|
| - | 397 | } |
|
| - | 398 | } |
|
| 395 | if(UBat < BattLowVoltageWarning) |
399 | if(UBat < BattLowVoltageWarning) |
| 396 | { |
400 | { |
| 397 | MikroKopterFlags |= FLAG_LOWBAT; |
401 | MikroKopterFlags |= FLAG_LOWBAT; |
| 398 | if(BeepMuster == 0xffff) |
402 | if(BeepMuster == 0xffff) |
| 399 | { |
403 | { |
| 400 | beeptime = 6000; |
404 | beeptime = 6000; |
| 401 | BeepMuster = 0x0300; |
405 | BeepMuster = 0x0300; |
| 402 | } |
406 | } |
| 403 | } |
407 | } |
| 404 | else MikroKopterFlags &= ~FLAG_LOWBAT; |
408 | else MikroKopterFlags &= ~FLAG_LOWBAT; |
| 405 | SPI_StartTransmitPacket(); |
409 | SPI_StartTransmitPacket(); |
| 406 | - | ||
| 407 | SendSPI = 4; |
410 | SendSPI = 4; |
| 408 | if(!MotorenEin) timer2 = 1300; // 0,5 Minuten aufrunden |
411 | if(!MotorenEin) timer2 = 1300; // 0,5 Minuten aufrunden |
| 409 | if(++timer2 == 2600) // eine Minute |
412 | if(++timer2 == 2600) // eine Minute |
| 410 | { |
413 | { |
| 411 | timer2 = 0; |
414 | timer2 = 0; |