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| Rev 1435 | Rev 1479 | ||
|---|---|---|---|
| Line 155... | Line 155... | ||
| 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 FCFlags = 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; |
- | |
| 161 | unsigned char Motor[MAX_MOTORS]; |
- | |
| 162 | signed int tmp_motorwert[MAX_MOTORS]; |
160 | signed int tmp_motorwert[MAX_MOTORS]; |
| 163 | unsigned char LoadHandler = 0; |
161 | unsigned char LoadHandler = 0; |
| 164 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
162 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| 165 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
163 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
| 166 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
164 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
| Line 479... | Line 477... | ||
| 479 | { |
477 | { |
| 480 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
478 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
| 481 | for(i=0;i<MAX_MOTORS;i++) |
479 | for(i=0;i<MAX_MOTORS;i++) |
| 482 | { |
480 | { |
| 483 | if(!PC_MotortestActive) MotorTest[i] = 0; |
481 | if(!PC_MotortestActive) MotorTest[i] = 0; |
| 484 | Motor[i] = MotorTest[i]; |
482 | Motor[i].SetPoint = MotorTest[i]; |
| 485 | } |
483 | } |
| 486 | if(PC_MotortestActive) PC_MotortestActive--; |
484 | if(PC_MotortestActive) PC_MotortestActive--; |
| 487 | } |
485 | } |
| 488 | else FCFlags |= FCFLAG_MOTOR_RUN; |
486 | else FCFlags |= FCFLAG_MOTOR_RUN; |
| Line 489... | Line 487... | ||
| 489 | 487 | ||
| 490 | DebugOut.Analog[12] = Motor[0]; |
488 | DebugOut.Analog[12] = Motor[0].SetPoint; |
| 491 | DebugOut.Analog[13] = Motor[1]; |
489 | DebugOut.Analog[13] = Motor[1].SetPoint; |
| 492 | DebugOut.Analog[14] = Motor[3]; |
490 | DebugOut.Analog[14] = Motor[3].SetPoint; |
| Line 493... | Line 491... | ||
| 493 | DebugOut.Analog[15] = Motor[2]; |
491 | DebugOut.Analog[15] = Motor[2].SetPoint; |
| 494 | 492 | ||
| 495 | //Start I2C Interrupt Mode |
493 | //Start I2C Interrupt Mode |
| 496 | twi_state = 0; |
494 | twi_state = 0; |
| Line 1601... | Line 1599... | ||
| 1601 | tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
1599 | tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
| 1602 | tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
1600 | tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
| 1603 | tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
1601 | tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
| 1604 | tmp_int = tmp_motorwert[i] / STICK_GAIN; |
1602 | tmp_int = tmp_motorwert[i] / STICK_GAIN; |
| 1605 | CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
1603 | CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
| 1606 | Motor[i] = tmp_int; |
1604 | Motor[i].SetPoint = tmp_int; |
| 1607 | } |
1605 | } |
| 1608 | else Motor[i] = 0; |
1606 | else Motor[i].SetPoint = 0; |
| 1609 | } |
1607 | } |
| 1610 | /* |
- | |
| 1611 | if(Poti1 > 20) Motor1 = 0; |
- | |
| 1612 | if(Poti1 > 90) Motor6 = 0; |
- | |
| 1613 | if(Poti1 > 140) Motor2 = 0; |
- | |
| 1614 | //if(Poti1 > 200) Motor7 = 0; |
- | |
| 1615 | */ |
- | |
| 1616 | } |
1608 | } |