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Rev 1211 Rev 1212
Line 88... Line 88...
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int   GierGyroFehler = 0;
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int   GierGyroFehler = 0;
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char GyroFaktor,GyroFaktorGier;
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char GyroFaktor,GyroFaktorGier;
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char IntegralFaktor,IntegralFaktorGier;
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char IntegralFaktor,IntegralFaktorGier;
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int  DiffNick,DiffRoll;
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int  DiffNick,DiffRoll;
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int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
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int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
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volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links;
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volatile unsigned char Motor1, Motor2,Motor3,Motor4,Motor5,Motor6,Motor7,Motor8;
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volatile unsigned char SenderOkay = 0;
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volatile unsigned char SenderOkay = 0;
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int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
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int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
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char MotorenEin = 0;
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char MotorenEin = 0;
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int HoehenWert = 0;
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int HoehenWert = 0;
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int SollHoehe = 0;
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int SollHoehe = 0;
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//############################################################################
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//############################################################################
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{
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{
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 unsigned char i;
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 unsigned char i;
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    if(!MotorenEin)
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    if(!MotorenEin)
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        {
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        {
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        for(i=0;i<MAX_MOTORS;i++) Motor[i] = 0;
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         MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY);
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#ifndef QUADRO
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                 for(i=0;i<MAX_MOTORS;i++)
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                Motor1 = 0;Motor2 = 0;Motor3 = 0;Motor4 = 0;Motor5 = 0;Motor6 = 0;Motor7 = 0;Motor8 = 0;
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        if(MotorTest[0]) {Motor1 = MotorTest[0]; Motor2 = MotorTest[0];}
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        if(MotorTest[3]) {Motor3 = MotorTest[3]; Motor4 = MotorTest[3];}
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        if(MotorTest[1]) {Motor5 = MotorTest[1]; Motor6 = MotorTest[1];}
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        if(MotorTest[2]) {Motor7 = MotorTest[2]; Motor8 = MotorTest[2];}
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#else
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                  {
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        Motor_Hinten = 0; Motor_Vorne = 0; Motor_Rechts = 0; Motor_Links = 0;
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        if(MotorTest[0]) Motor_Vorne = MotorTest[0];
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        if(MotorTest[1]) Motor_Hinten = MotorTest[1];
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                   if(!PC_MotortestActive)  MotorTest[i] = 0;
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        if(MotorTest[2]) Motor_Links = MotorTest[2];
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                   Motor[i] = MotorTest[i];
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        if(MotorTest[3]) Motor_Rechts = MotorTest[3];
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#endif
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                  }
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        if(MotorTest[0]) Motor[0] = MotorTest[0];
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        if(MotorTest[1]) Motor[1] = MotorTest[1];
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        if(MotorTest[2]) Motor[2] = MotorTest[2];
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          if(PC_MotortestActive) PC_MotortestActive--;
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        if(MotorTest[3]) Motor[3] = MotorTest[3];
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        }
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        MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY);
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        } else MikroKopterFlags |= FLAG_MOTOR_RUN;
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        else MikroKopterFlags |= FLAG_MOTOR_RUN;
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    DebugOut.Analog[12] = Motor_Vorne;
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    DebugOut.Analog[12] = Motor[0];
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    DebugOut.Analog[13] = Motor_Hinten;
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    DebugOut.Analog[13] = Motor[1];
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    DebugOut.Analog[14] = Motor_Links;
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    DebugOut.Analog[14] = Motor[3];
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    DebugOut.Analog[15] = Motor_Rechts;
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    DebugOut.Analog[15] = Motor[2];
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    //Start I2C Interrupt Mode
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    //Start I2C Interrupt Mode
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    twi_state = 0;
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    twi_state = 0;
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    motor = 0;
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    motor = 0;