WebSVN - FlightCtrl - Diff - Rev 1413 and 1420 - /branches/V0.88e_ACC-HH_HR



unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
struct mk_param_struct EE_Parameter;
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
int MaxStickNick = 0,MaxStickRoll = 0;
unsigned int  modell_fliegt = 0;
volatile unsigned char FCFlags = 0;
long GIER_GRAD_FAKTOR = 1291;
signed int KopplungsteilNickRoll,KopplungsteilRollNick;
unsigned char RequiredMotors = 4;
unsigned char Motor[MAX_MOTORS];
signed int tmp_motorwert[MAX_MOTORS];

    ExternHoehenValue = 0;
    ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
    GierGyroFehler = 0;
    SendVersionToNavi = 1;
    LED_Init();
    FCFlags |= FCFLAG_CALIBRATE;
    FromNaviCtrl_Value.Kalman_K = -1;
    FromNaviCtrl_Value.Kalman_MaxDrift = 0;
    FromNaviCtrl_Value.Kalman_MaxFusion = 32;

 

//############################################################################
{
 unsigned char i;
    if(!MotorenEin)
        {
         FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY);
                 for(i=0;i<MAX_MOTORS;i++)
                  {
                   if(!PC_MotortestActive)  MotorTest[i] = 0;
                   Motor[i] = MotorTest[i];
                  }
          if(PC_MotortestActive) PC_MotortestActive--;
        }
        else FCFlags |= FCFLAG_MOTOR_RUN;

 
    DebugOut.Analog[12] = Motor[0];
    DebugOut.Analog[13] = Motor[1];
    DebugOut.Analog[14] = Motor[3];

        {
        if(RcLostTimer) RcLostTimer--;
        else
         {
          MotorenEin = 0;
          FCFlags &= ~FCFLAG_NOTLANDUNG;
         }
        ROT_ON;
        if(modell_fliegt > 1000)  // wahrscheinlich in der Luft --> langsam absenken
            {
            GasMischanteil = EE_Parameter.NotGas;
            FCFlags |= FCFLAG_NOTLANDUNG;
            PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
            PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
            PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
            PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
            PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Emfang gut
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
        if(SenderOkay > 140)
            {
                        FCFlags &= ~FCFLAG_NOTLANDUNG;
            RcLostTimer = EE_Parameter.NotGasZeit * 50;
            if(GasMischanteil > 40 && MotorenEin)
                {
                if(modell_fliegt < 0xffff) modell_fliegt++;
                }

                  NeueKompassRichtungMerken = 1;
                  sollGier = 0;
                  Mess_Integral_Gier = 0;
//                  Mess_Integral_Gier2 = 0;
                 }
                } else FCFlags |= FCFLAG_FLY;

 
            if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0)
                {
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

                        Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
                        Mess_IntegralNick2 = IntegralNick;
                        Mess_IntegralRoll2 = IntegralRoll;
                        SummeNick = 0;
                        SummeRoll = 0;
                        FCFlags |= FCFLAG_START;
                        }
                    }
                    else delay_einschalten = 0;
                //Auf Neutralwerte setzen
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

            }
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// neue Werte von der Funke
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

 
 if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG))
  {
        static int stick_nick,stick_roll;
    ParameterZuordnung();
    stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4;

     {
      MaxStickRoll = abs(StickRoll)/STICK_GAIN;
      if(MaxStickRoll > 100) MaxStickRoll = 100;
     }
     else MaxStickRoll--;
    if(FCFlags & FCFLAG_NOTLANDUNG)  {MaxStickNick = 0; MaxStickRoll = 0;}

 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Looping?
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Bei Empfangsausfall im Flug
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
   if(FCFlags & FCFLAG_NOTLANDUNG)
    {
     StickGier = 0;
     StickNick = 0;

                tmp_int  = (int)(IntegralNick/GIER_GRAD_FAKTOR);  // nick angle in deg
                tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR);  // roll angle in deg
                CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
                LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
                CosAttitude = c_cos_8192(CosAttitude);  // cos of actual attitude
                if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG))
                {
                        #define HEIGHT_TRIM_UP          0x01
                        #define HEIGHT_TRIM_DOWN        0x02
                        static unsigned char HeightTrimmingFlag = 0x00;

                  {
                // alternative height control
                // PD-Control with respect to hoover point
                // the thrust loss out of horizontal attitude is compensated
                // the setpoint will be fine adjusted with the gas stick position
                        if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying
                        {   // gas stick is above hoover point
                                if(StickGas > (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
                                {
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN)
                                        {

                           if(StickGasHoover < 70) StickGasHoover = 70;
                           else if(StickGasHoover > 150) StickGasHoover = 150;
                       }
                                }
              if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active
                        } //if FCFlags & MKFCFLAG_FLY
                        else
                        {
                         SollHoehe = HoehenWert - 400;
                         if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint;
                         else StickGasHoover = 120;

                        FilterHCGas = GasMischanteil;
                }

 
                // Hoover gas estimation by averaging gas control output on small z-velocities
                // this is done only if height contol option is selected in global config and aircraft is flying
                if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG))
                {
                        if(HooverGasFilter == 0)  HooverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
                        if(abs(VarioMeter) < 100) // only on small vertical speed
                        {

Rev 1413	Rev 1420
Line 152...	Line 152...
152	unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	152	unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
153	struct mk_param_struct EE_Parameter;	153	struct mk_param_struct EE_Parameter;
154	signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;	154	signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
155	int MaxStickNick = 0,MaxStickRoll = 0;	155	int MaxStickNick = 0,MaxStickRoll = 0;
156	unsigned int modell_fliegt = 0;	156	unsigned int modell_fliegt = 0;
157	volatile unsigned char MikroKopterFlags = 0;	157	volatile unsigned char FCFlags = 0;
158	long GIER_GRAD_FAKTOR = 1291;	158	long GIER_GRAD_FAKTOR = 1291;
159	signed int KopplungsteilNickRoll,KopplungsteilRollNick;	159	signed int KopplungsteilNickRoll,KopplungsteilRollNick;
160	unsigned char RequiredMotors = 4;	160	unsigned char RequiredMotors = 4;
161	unsigned char Motor[MAX_MOTORS];	161	unsigned char Motor[MAX_MOTORS];
162	signed int tmp_motorwert[MAX_MOTORS];	162	signed int tmp_motorwert[MAX_MOTORS];
Line 259...	Line 259...
259	ExternHoehenValue = 0;	259	ExternHoehenValue = 0;
260	ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;	260	ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
261	GierGyroFehler = 0;	261	GierGyroFehler = 0;
262	SendVersionToNavi = 1;	262	SendVersionToNavi = 1;
263	LED_Init();	263	LED_Init();
264	MikroKopterFlags \|= FLAG_CALIBRATE;	264	FCFlags \|= FCFLAG_CALIBRATE;
265	FromNaviCtrl_Value.Kalman_K = -1;	265	FromNaviCtrl_Value.Kalman_K = -1;
266	FromNaviCtrl_Value.Kalman_MaxDrift = 0;	266	FromNaviCtrl_Value.Kalman_MaxDrift = 0;
267	FromNaviCtrl_Value.Kalman_MaxFusion = 32;	267	FromNaviCtrl_Value.Kalman_MaxFusion = 32;
Line 268...	Line 268...
268		268
Line 475...	Line 475...
475	//############################################################################	475	//############################################################################
476	{	476	{
477	unsigned char i;	477	unsigned char i;
478	if(!MotorenEin)	478	if(!MotorenEin)
479	{	479	{
480	MikroKopterFlags &= ~(FLAG_MOTOR_RUN \| FLAG_FLY);	480	FCFlags &= ~(FCFLAG_MOTOR_RUN \| FCFLAG_FLY);
481	for(i=0;i<MAX_MOTORS;i++)	481	for(i=0;i<MAX_MOTORS;i++)
482	{	482	{
483	if(!PC_MotortestActive) MotorTest[i] = 0;	483	if(!PC_MotortestActive) MotorTest[i] = 0;
484	Motor[i] = MotorTest[i];	484	Motor[i] = MotorTest[i];
485	}	485	}
486	if(PC_MotortestActive) PC_MotortestActive--;	486	if(PC_MotortestActive) PC_MotortestActive--;
487	}	487	}
488	else MikroKopterFlags \|= FLAG_MOTOR_RUN;	488	else FCFlags \|= FCFLAG_MOTOR_RUN;
Line 489...	Line 489...
489		489
490	DebugOut.Analog[12] = Motor[0];	490	DebugOut.Analog[12] = Motor[0];
491	DebugOut.Analog[13] = Motor[1];	491	DebugOut.Analog[13] = Motor[1];
492	DebugOut.Analog[14] = Motor[3];	492	DebugOut.Analog[14] = Motor[3];
Line 583...	Line 583...
583	{	583	{
584	if(RcLostTimer) RcLostTimer--;	584	if(RcLostTimer) RcLostTimer--;
585	else	585	else
586	{	586	{
587	MotorenEin = 0;	587	MotorenEin = 0;
588	MikroKopterFlags &= ~FLAG_NOTLANDUNG;	588	FCFlags &= ~FCFLAG_NOTLANDUNG;
589	}	589	}
590	ROT_ON;	590	ROT_ON;
591	if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken	591	if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken
592	{	592	{
593	GasMischanteil = EE_Parameter.NotGas;	593	GasMischanteil = EE_Parameter.NotGas;
594	MikroKopterFlags \|= FLAG_NOTLANDUNG;	594	FCFlags \|= FCFLAG_NOTLANDUNG;
595	PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;	595	PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
596	PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;	596	PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
597	PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;	597	PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
598	PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;	598	PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
599	PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;	599	PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
Line 604...	Line 604...
604	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	604	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
605	// Emfang gut	605	// Emfang gut
606	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	606	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
607	if(SenderOkay > 140)	607	if(SenderOkay > 140)
608	{	608	{
609	MikroKopterFlags &= ~FLAG_NOTLANDUNG;	609	FCFlags &= ~FCFLAG_NOTLANDUNG;
610	RcLostTimer = EE_Parameter.NotGasZeit * 50;	610	RcLostTimer = EE_Parameter.NotGasZeit * 50;
611	if(GasMischanteil > 40 && MotorenEin)	611	if(GasMischanteil > 40 && MotorenEin)
612	{	612	{
613	if(modell_fliegt < 0xffff) modell_fliegt++;	613	if(modell_fliegt < 0xffff) modell_fliegt++;
614	}	614	}
Line 621...	Line 621...
621	NeueKompassRichtungMerken = 1;	621	NeueKompassRichtungMerken = 1;
622	sollGier = 0;	622	sollGier = 0;
623	Mess_Integral_Gier = 0;	623	Mess_Integral_Gier = 0;
624	// Mess_Integral_Gier2 = 0;	624	// Mess_Integral_Gier2 = 0;
625	}	625	}
626	} else MikroKopterFlags \|= FLAG_FLY;	626	} else FCFlags \|= FCFLAG_FLY;
Line 627...	Line 627...
627		627
628	if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0)	628	if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0)
629	{	629	{
630	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	630	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Line 715...	Line 715...
715	Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;	715	Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
716	Mess_IntegralNick2 = IntegralNick;	716	Mess_IntegralNick2 = IntegralNick;
717	Mess_IntegralRoll2 = IntegralRoll;	717	Mess_IntegralRoll2 = IntegralRoll;
718	SummeNick = 0;	718	SummeNick = 0;
719	SummeRoll = 0;	719	SummeRoll = 0;
720	MikroKopterFlags \|= FLAG_START;	720	FCFlags \|= FCFLAG_START;
721	}	721	}
722	}	722	}
723	else delay_einschalten = 0;	723	else delay_einschalten = 0;
724	//Auf Neutralwerte setzen	724	//Auf Neutralwerte setzen
725	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	725	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Line 739...	Line 739...
739	}	739	}
740	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	740	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
741	// neue Werte von der Funke	741	// neue Werte von der Funke
742	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	742	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Line 743...	Line 743...
743		743
744	if(!NewPpmData-- \|\| (MikroKopterFlags & FLAG_NOTLANDUNG))	744	if(!NewPpmData-- \|\| (FCFlags & FCFLAG_NOTLANDUNG))
745	{	745	{
746	static int stick_nick,stick_roll;	746	static int stick_nick,stick_roll;
747	ParameterZuordnung();	747	ParameterZuordnung();
748	stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4;	748	stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4;
Line 791...	Line 791...
791	{	791	{
792	MaxStickRoll = abs(StickRoll)/STICK_GAIN;	792	MaxStickRoll = abs(StickRoll)/STICK_GAIN;
793	if(MaxStickRoll > 100) MaxStickRoll = 100;	793	if(MaxStickRoll > 100) MaxStickRoll = 100;
794	}	794	}
795	else MaxStickRoll--;	795	else MaxStickRoll--;
796	if(MikroKopterFlags & FLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;}	796	if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;}
Line 797...	Line 797...
797		797
798	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	798	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
799	// Looping?	799	// Looping?
800	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	800	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Line 843...	Line 843...
843		843
844		844
845	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	845	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
846	// Bei Empfangsausfall im Flug	846	// Bei Empfangsausfall im Flug
847	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	847	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
848	if(MikroKopterFlags & FLAG_NOTLANDUNG)	848	if(FCFlags & FCFLAG_NOTLANDUNG)
849	{	849	{
850	StickGier = 0;	850	StickGier = 0;
851	StickNick = 0;	851	StickNick = 0;
Line 1327...	Line 1327...
1327	tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg	1327	tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg
1328	tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg	1328	tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg
1329	CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg	1329	CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
1330	LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle	1330	LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
1331	CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude	1331	CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude
1332	if(HoehenReglerAktiv && !(MikroKopterFlags & FLAG_NOTLANDUNG))	1332	if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG))
1333	{	1333	{
1334	#define HEIGHT_TRIM_UP 0x01	1334	#define HEIGHT_TRIM_UP 0x01
1335	#define HEIGHT_TRIM_DOWN 0x02	1335	#define HEIGHT_TRIM_DOWN 0x02
1336	static unsigned char HeightTrimmingFlag = 0x00;	1336	static unsigned char HeightTrimmingFlag = 0x00;
Line 1350...	Line 1350...
1350	{	1350	{
1351	// alternative height control	1351	// alternative height control
1352	// PD-Control with respect to hoover point	1352	// PD-Control with respect to hoover point
1353	// the thrust loss out of horizontal attitude is compensated	1353	// the thrust loss out of horizontal attitude is compensated
1354	// the setpoint will be fine adjusted with the gas stick position	1354	// the setpoint will be fine adjusted with the gas stick position
1355	if(MikroKopterFlags & FLAG_FLY) // trim setpoint only when flying	1355	if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying
1356	{ // gas stick is above hoover point	1356	{ // gas stick is above hoover point
1357	if(StickGas > (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)	1357	if(StickGas > (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
1358	{	1358	{
1359	if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN)	1359	if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN)
1360	{	1360	{
Line 1398...	Line 1398...
1398	if(StickGasHoover < 70) StickGasHoover = 70;	1398	if(StickGasHoover < 70) StickGasHoover = 70;
1399	else if(StickGasHoover > 150) StickGasHoover = 150;	1399	else if(StickGasHoover > 150) StickGasHoover = 150;
1400	}	1400	}
1401	}	1401	}
1402	if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active	1402	if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active
1403	} //if MikroKopterFlags & MKFLAG_FLY	1403	} //if FCFlags & MKFCFLAG_FLY
1404	else	1404	else
1405	{	1405	{
1406	SollHoehe = HoehenWert - 400;	1406	SollHoehe = HoehenWert - 400;
1407	if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint;	1407	if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint;
1408	else StickGasHoover = 120;	1408	else StickGasHoover = 120;
Line 1473...	Line 1473...
1473	FilterHCGas = GasMischanteil;	1473	FilterHCGas = GasMischanteil;
1474	}	1474	}
Line 1475...	Line 1475...
1475		1475
1476	// Hoover gas estimation by averaging gas control output on small z-velocities	1476	// Hoover gas estimation by averaging gas control output on small z-velocities
1477	// this is done only if height contol option is selected in global config and aircraft is flying	1477	// this is done only if height contol option is selected in global config and aircraft is flying
1478	if((MikroKopterFlags & FLAG_FLY) && !(MikroKopterFlags & FLAG_NOTLANDUNG))	1478	if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG))
1479	{	1479	{
1480	if(HooverGasFilter == 0) HooverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation	1480	if(HooverGasFilter == 0) HooverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
1481	if(abs(VarioMeter) < 100) // only on small vertical speed	1481	if(abs(VarioMeter) < 100) // only on small vertical speed
1482	{	1482	{

Subversion Repositories FlightCtrl

(root)/branches/V0.88e_ACC-HH_HR_MartinR/fc.c @ 2163 - Rev 1413 → 1420