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| Rev 1695 | Rev 1697 | ||
|---|---|---|---|
| Line 1283... | Line 1283... | ||
| 1283 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
1283 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| 1284 | GasMischanteil *= STICK_GAIN; |
1284 | GasMischanteil *= STICK_GAIN; |
| 1285 | // if height control is activated |
1285 | // if height control is activated |
| 1286 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1286 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| 1287 | { |
1287 | { |
| 1288 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
1288 | #define HOVER_GAS_AVERAGE 16384L // 4096 * 2ms = 8.2s averaging |
| 1289 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1289 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| Line 1290... | Line 1290... | ||
| 1290 | 1290 | ||
| 1291 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1291 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 1292 | #define OPA_OFFSET_STEP 15 |
1292 | #define OPA_OFFSET_STEP 15 |
| 1293 | #else |
1293 | #else |
| 1294 | #define OPA_OFFSET_STEP 10 |
1294 | #define OPA_OFFSET_STEP 10 |
| 1295 | #endif |
1295 | #endif |
| 1296 | int HCGas, HeightDeviation = 0,GasReduction; |
1296 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
| 1297 | static int HeightTrimming = 0; // rate for change of height setpoint |
1297 | static int HeightTrimming = 0; // rate for change of height setpoint |
| 1298 | static int FilterHCGas = 0; |
1298 | static int FilterHCGas = 0; |
| 1299 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
1299 | static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
| 1300 | static unsigned long HoverGasFilter = 0; |
1300 | static unsigned long HoverGasFilter = 0; |
| Line 1493... | Line 1493... | ||
| 1493 | // tmp_int2 = tmp_int/4; |
1493 | // tmp_int2 = tmp_int/4; |
| 1494 | // LIMIT_MAX(tmp_int2, 64); |
1494 | // LIMIT_MAX(tmp_int2, 64); |
| 1495 | // if(tmp_int > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2); |
1495 | // if(tmp_int > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2); |
| 1496 | // else tmp_int = tmp_int - (tmp_int2 * tmp_int2); |
1496 | // else tmp_int = tmp_int - (tmp_int2 * tmp_int2); |
| Line 1497... | Line 1497... | ||
| 1497 | 1497 | ||
| 1498 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 64L; // scale to d-gain parameter |
1498 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
| 1499 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
1499 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
| 1500 | // HCGas -= tmp_int; |
1500 | // HCGas -= tmp_int; |
| 1501 | DebugOut.Analog[19] = tmp_int; |
1501 | DebugOut.Analog[19] = tmp_int; |