Rev 1243 | Rev 1253 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1243 | Rev 1246 | ||
|---|---|---|---|
| Line 92... | Line 92... | ||
| 92 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
92 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| 93 | volatile unsigned char SenderOkay = 0; |
93 | volatile unsigned char SenderOkay = 0; |
| 94 | volatile unsigned char SenderRSSI = 0; |
94 | volatile unsigned char SenderRSSI = 0; |
| 95 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
95 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| 96 | char MotorenEin = 0; |
96 | char MotorenEin = 0; |
| 97 | int HoehenWert = 0; |
97 | long HoehenWert = 0; |
| 98 | int SollHoehe = 0; |
98 | long SollHoehe = 0; |
| 99 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
99 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| 100 | //float Ki = FAKTOR_I; |
100 | //float Ki = FAKTOR_I; |
| 101 | int Ki = 10300 / 33; |
101 | int Ki = 10300 / 33; |
| 102 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
102 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| 103 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
103 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| Line 1274... | Line 1274... | ||
| 1274 | { |
1274 | { |
| 1275 | if(Parameter_MaxHoehe < 50) |
1275 | if(Parameter_MaxHoehe < 50) |
| 1276 | { |
1276 | { |
| 1277 | if(!delay--) |
1277 | if(!delay--) |
| 1278 | { |
1278 | { |
| - | 1279 | #define OPA_OFFSET_STEP 10 |
|
| 1279 | if((MessLuftdruck > 1000) && OCR0A < 254) |
1280 | if((MessLuftdruck > 1000) && (OCR0A < (255 - OPA_OFFSET_STEP)) ) |
| 1280 | { |
1281 | { |
| 1281 | if(OCR0A < 244) |
- | |
| 1282 | { |
- | |
| 1283 | ExpandBaro -= 10; |
1282 | ExpandBaro -= 1; |
| 1284 | OCR0A = DruckOffsetSetting - ExpandBaro; |
1283 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; |
| 1285 | } |
- | |
| 1286 | else OCR0A = 254; |
- | |
| 1287 | beeptime = 300; |
1284 | beeptime = 300; |
| 1288 | delay = 250; |
1285 | delay = 250; |
| 1289 | } |
1286 | } |
| 1290 | else |
- | |
| 1291 | if((MessLuftdruck < 100) && OCR0A > 1) |
1287 | else if((MessLuftdruck < 100) && (OCR0A > OPA_OFFSET_STEP)) |
| 1292 | { |
1288 | { |
| 1293 | if(OCR0A > 10) |
- | |
| 1294 | { |
- | |
| 1295 | ExpandBaro += 10; |
1289 | ExpandBaro += 1; |
| 1296 | OCR0A = DruckOffsetSetting - ExpandBaro; |
1290 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; |
| 1297 | } |
- | |
| 1298 | else OCR0A = 1; |
- | |
| 1299 | beeptime = 300; |
1291 | beeptime = 300; |
| 1300 | delay = 250; |
1292 | delay = 250; |
| 1301 | } |
1293 | } |
| 1302 | else |
1294 | else |
| 1303 | { |
1295 | { |
| 1304 | SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
1296 | SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| 1305 | HoehenReglerAktiv = 0; |
1297 | HoehenReglerAktiv = 0; |
| 1306 | delay = 1; |
1298 | delay = 1; |
| 1307 | } |
1299 | } |
| 1308 | } |
1300 | } |
| 1309 | } |
1301 | } |
| 1310 | else |
1302 | else |
| 1311 | { |
1303 | { |