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Rev 855 | Rev 856 | ||
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Line 667... | Line 667... | ||
667 | 667 | ||
668 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
668 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
669 | if(GyroFaktor < 0) GyroFaktor = 0; |
669 | if(GyroFaktor < 0) GyroFaktor = 0; |
Line 670... | Line 670... | ||
670 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
670 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
671 | 671 | ||
672 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) MaxStickNick = abs(StickNick); else MaxStickNick--; |
672 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) MaxStickNick = abs(StickNick)/STICK_GAIN; else MaxStickNick--; |
Line 673... | Line 673... | ||
673 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll); else MaxStickRoll--; |
673 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll)/STICK_GAIN; else MaxStickRoll--; |
674 | if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
674 | if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
675 | 675 |