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| Rev 1668 | Rev 1669 | ||
|---|---|---|---|
| Line 144... | Line 144... | ||
| 144 | unsigned char Parameter_NaviGpsACC; |
144 | unsigned char Parameter_NaviGpsACC; |
| 145 | unsigned char Parameter_NaviOperatingRadius; |
145 | unsigned char Parameter_NaviOperatingRadius; |
| 146 | unsigned char Parameter_NaviWindCorrection; |
146 | unsigned char Parameter_NaviWindCorrection; |
| 147 | unsigned char Parameter_NaviSpeedCompensation; |
147 | unsigned char Parameter_NaviSpeedCompensation; |
| 148 | unsigned char Parameter_ExternalControl; |
148 | unsigned char Parameter_ExternalControl; |
| 149 | unsigned char Parameter_OrientationModeControl; |
- | |
| 150 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
149 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| 151 | unsigned char CareFree = 0; |
150 | unsigned char CareFree = 0; |
| Line 152... | Line 151... | ||
| 152 | 151 | ||
| 153 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
152 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| Line 599... | Line 598... | ||
| 599 | tmp = EE_Parameter.OrientationModeControl; |
598 | tmp = EE_Parameter.OrientationModeControl; |
| 600 | if(tmp > 50 && NaviDataOkay > 200) |
599 | if(tmp > 50 && NaviDataOkay > 200) |
| 601 | { |
600 | { |
| 602 | CareFree = 1; |
601 | CareFree = 1; |
| 603 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
602 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
| 604 | } |
603 | } |
| 605 | else CareFree = 0; |
604 | else CareFree = 0; |
| Line 606... | Line 605... | ||
| 606 | 605 | ||
| 607 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
606 | if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
| Line 774... | Line 773... | ||
| 774 | Mess_IntegralNick2 = IntegralNick; |
773 | Mess_IntegralNick2 = IntegralNick; |
| 775 | Mess_IntegralRoll2 = IntegralRoll; |
774 | Mess_IntegralRoll2 = IntegralRoll; |
| 776 | SummeNick = 0; |
775 | SummeNick = 0; |
| 777 | SummeRoll = 0; |
776 | SummeRoll = 0; |
| 778 | FCFlags |= FCFLAG_START; |
777 | FCFlags |= FCFLAG_START; |
| 779 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
778 | ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| 780 | } |
779 | } |
| 781 | else |
780 | else |
| 782 | { |
781 | { |
| 783 | beeptime = 1500; // indicate missing calibration |
782 | beeptime = 1500; // indicate missing calibration |
| 784 | } |
783 | } |
| Line 833... | Line 832... | ||
| 833 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
832 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
| 834 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
833 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
| 835 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
834 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
| 836 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
835 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
| 837 | } |
836 | } |
| 838 | 837 | ||
| Line 839... | Line 838... | ||
| 839 | 838 | ||
| 840 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
839 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 841 | if(StickGier > 2) StickGier -= 2; else |
840 | if(StickGier > 2) StickGier -= 2; else |