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Line 118... | Line 118... | ||
118 | unsigned char Parameter_UserParam5 = 0; |
118 | unsigned char Parameter_UserParam5 = 0; |
119 | unsigned char Parameter_UserParam6 = 0; |
119 | unsigned char Parameter_UserParam6 = 0; |
120 | unsigned char Parameter_UserParam7 = 0; |
120 | unsigned char Parameter_UserParam7 = 0; |
121 | unsigned char Parameter_UserParam8 = 0; |
121 | unsigned char Parameter_UserParam8 = 0; |
122 | unsigned char Parameter_ServoNickControl = 100; |
122 | unsigned char Parameter_ServoNickControl = 100; |
- | 123 | unsigned char Parameter_ServoRollControl = 100; |
|
123 | unsigned char Parameter_LoopGasLimit = 70; |
124 | unsigned char Parameter_LoopGasLimit = 70; |
124 | unsigned char Parameter_AchsKopplung1 = 90; |
125 | unsigned char Parameter_AchsKopplung1 = 90; |
125 | unsigned char Parameter_AchsKopplung2 = 65; |
126 | unsigned char Parameter_AchsKopplung2 = 65; |
126 | unsigned char Parameter_CouplingYawCorrection = 64; |
127 | unsigned char Parameter_CouplingYawCorrection = 64; |
127 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
128 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
Line 158... | Line 159... | ||
158 | else motor = neu - (alt - neu)*1; |
159 | else motor = neu - (alt - neu)*1; |
159 | //if(Poti2 < 20) return(neu); |
160 | //if(Poti2 < 20) return(neu); |
160 | return(motor); |
161 | return(motor); |
161 | } |
162 | } |
Line 162... | Line -... | ||
162 | - | ||
163 | 163 | ||
164 | void Piep(unsigned char Anzahl) |
164 | void Piep(unsigned char Anzahl, unsigned int dauer) |
- | 165 | { |
|
165 | { |
166 | if(MotorenEin) return; //auf keinen Fall im Flug! |
166 | while(Anzahl--) |
167 | while(Anzahl--) |
167 | { |
168 | { |
168 | if(MotorenEin) return; //auf keinen Fall im Flug! |
169 | beeptime = dauer; |
169 | beeptime = 100; |
170 | while(beeptime); |
170 | Delay_ms(250); |
171 | Delay_ms(dauer * 2); |
171 | } |
172 | } |
Line 172... | Line 173... | ||
172 | } |
173 | } |
173 | 174 | ||
Line 253... | Line 254... | ||
253 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
254 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
254 | Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110; |
255 | Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110; |
255 | Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110; |
256 | Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110; |
256 | Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110; |
257 | Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110; |
257 | Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110; |
258 | Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110; |
258 | ServoActive = 1; |
259 | // ServoActive = 1; |
259 | SenderOkay = 100; |
260 | SenderOkay = 100; |
260 | } |
261 | } |
Line 261... | Line 262... | ||
261 | 262 | ||
262 | //############################################################################ |
263 | //############################################################################ |
Line 507... | Line 508... | ||
507 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
508 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
508 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
509 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
509 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
510 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
510 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
511 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
511 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
512 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
- | 513 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl,0,255); |
|
512 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
514 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
513 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
515 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
514 | CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2,0,255); |
516 | CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2,0,255); |
515 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255); |
517 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255); |
516 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
518 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
Line 645... | Line 647... | ||
645 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
647 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
646 | { |
648 | { |
647 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
649 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
648 | } |
650 | } |
649 | SetNeutral(); |
651 | SetNeutral(); |
- | 652 | ServoActive = 1; |
|
- | 653 | DDRD |=0x80; // enable J7 -> Servo signal |
|
650 | Piep(GetActiveParamSetNumber()); |
654 | Piep(GetActiveParamSetNumber(),120); |
651 | } |
655 | } |
652 | } |
656 | } |
653 | } |
657 | } |
654 | else |
658 | else |
655 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
659 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
Line 666... | Line 670... | ||
666 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
670 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
667 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
671 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
668 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
672 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
669 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
673 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
670 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
674 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
671 | Piep(GetActiveParamSetNumber()); |
675 | Piep(GetActiveParamSetNumber(),120); |
672 | } |
676 | } |
673 | } |
677 | } |
674 | else delay_neutral = 0; |
678 | else delay_neutral = 0; |
675 | } |
679 | } |
676 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
680 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |