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| Rev 1216 | Rev 1224 | ||
|---|---|---|---|
| Line 864... | Line 864... | ||
| 864 | LageKorrekturNick = 0; |
864 | LageKorrekturNick = 0; |
| 865 | LageKorrekturRoll = 0; |
865 | LageKorrekturRoll = 0; |
| 866 | } |
866 | } |
| Line 867... | Line 867... | ||
| 867 | 867 | ||
| 868 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
868 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 869 | if(!Looping_Nick && !Looping_Roll && Aktuell_az > 512) |
869 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| 870 | { |
870 | { |
| 871 | long tmp_long, tmp_long2; |
871 | long tmp_long, tmp_long2; |
| 872 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
872 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
| 873 | { |
873 | { |
| Line 1170... | Line 1170... | ||
| 1170 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
1170 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
| 1171 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
1171 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
| 1172 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
1172 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
| 1173 | DebugOut.Analog[4] = MesswertGier; |
1173 | DebugOut.Analog[4] = MesswertGier; |
| 1174 | DebugOut.Analog[5] = HoehenWert; |
1174 | DebugOut.Analog[5] = HoehenWert; |
| 1175 | DebugOut.Analog[6] = (Mess_Integral_Hoch / 512);//Aktuell_az; |
1175 | DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
| 1176 | DebugOut.Analog[8] = KompassValue; |
1176 | DebugOut.Analog[8] = KompassValue; |
| 1177 | DebugOut.Analog[9] = UBat; |
1177 | DebugOut.Analog[9] = UBat; |
| 1178 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
1178 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
| 1179 | DebugOut.Analog[10] = SenderOkay; |
1179 | DebugOut.Analog[10] = SenderOkay; |
| 1180 | //DebugOut.Analog[16] = Mittelwert_AccHoch; |
1180 | //DebugOut.Analog[16] = Mittelwert_AccHoch; |
| Line 1267... | Line 1267... | ||
| 1267 | { |
1267 | { |
| 1268 | if(Parameter_MaxHoehe < 50) |
1268 | if(Parameter_MaxHoehe < 50) |
| 1269 | { |
1269 | { |
| 1270 | if(!delay--) |
1270 | if(!delay--) |
| 1271 | { |
1271 | { |
| 1272 | if(MessLuftdruck > 1000) |
1272 | if((MessLuftdruck > 1000) && ((int)DruckOffsetSetting - ((int)ExpandBaro-10) < 256)) |
| 1273 | { |
1273 | { |
| 1274 | ExpandBaro -= 10; |
1274 | ExpandBaro -= 10; |
| 1275 | OCR0A = DruckOffsetSetting - ExpandBaro; |
1275 | OCR0A = DruckOffsetSetting - ExpandBaro; |
| 1276 | beeptime = 300; |
1276 | beeptime = 300; |
| 1277 | delay = 250; |
1277 | delay = 250; |
| 1278 | } |
1278 | } |
| 1279 | else |
1279 | else |
| 1280 | if(MessLuftdruck < 100) |
1280 | if((MessLuftdruck < 100) && ((int)DruckOffsetSetting + 10 < ExpandBaro)) |
| 1281 | { |
1281 | { |
| 1282 | ExpandBaro += 10; |
1282 | ExpandBaro += 10; |
| 1283 | OCR0A = DruckOffsetSetting - ExpandBaro; |
1283 | OCR0A = DruckOffsetSetting - ExpandBaro; |
| 1284 | beeptime = 300; |
1284 | beeptime = 300; |
| 1285 | delay = 250; |
1285 | delay = 250; |