Rev 1314 | Rev 1320 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1314 | Rev 1316 | ||
|---|---|---|---|
| Line 557... | Line 557... | ||
| 557 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
557 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 558 | // Gaswert ermitteln |
558 | // Gaswert ermitteln |
| 559 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
559 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 560 | GasMischanteil = StickGas; |
560 | GasMischanteil = StickGas; |
| 561 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
561 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| - | 562 | ||
| 562 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
563 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 563 | // Empfang schlecht |
564 | // Empfang schlecht |
| 564 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
565 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 565 | if(SenderOkay < 100) |
566 | if(SenderOkay < 100) |
| 566 | { |
567 | { |
| Line 737... | Line 738... | ||
| 737 | 738 | ||
| 738 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
739 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 739 | if(StickGier > 2) StickGier -= 2; else |
740 | if(StickGier > 2) StickGier -= 2; else |
| Line 740... | Line 741... | ||
| 740 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
741 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
| - | 742 | ||
| 741 | 743 | StickGas = (StickGas + PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120) / 2; |
|
| 742 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
744 | |
| 743 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
745 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
| 744 | IntegralFaktor = Parameter_Gyro_I; |
746 | IntegralFaktor = Parameter_Gyro_I; |
| Line 755... | Line 757... | ||
| 755 | StickGier += ExternControl.Gier; |
757 | StickGier += ExternControl.Gier; |
| 756 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
758 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
| 757 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
759 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
| 758 | } |
760 | } |
| 759 | if(StickGas < 0) StickGas = 0; |
761 | if(StickGas < 0) StickGas = 0; |
| 760 | 762 | ||
| 761 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
763 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 762 | if(GyroFaktor < 0) GyroFaktor = 0; |
764 | if(GyroFaktor < 0) GyroFaktor = 0; |
| 763 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
765 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
| Line 764... | Line 766... | ||
| 764 | 766 | ||