WebSVN - FlightCtrl - Diff - Rev 1954 and 1966 - /branches/V0.88n_ACC-HH_HR



unsigned char Parameter_NaviWindCorrection;
unsigned char Parameter_NaviSpeedCompensation;
unsigned char Parameter_ExternalControl;
unsigned char Parameter_GlobalConfig;
unsigned char Parameter_ExtraConfig;
unsigned char Parameter_MaximumAltitude;
unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
unsigned char CareFree = 0;
const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps

 

 
 
void Piep(unsigned char Anzahl, unsigned int dauer)
{
 if(MotorenEin) return; //auf keinen Fall im Flug!
GRN_OFF;
 while(Anzahl--)
 {
  beeptime = dauer;
  while(beeptime);
  Delay_ms(dauer * 2);
 }

GRN_ON;
}
 

         beeptime = 15000;
         BeepMuster = 0xA400;
         CareFree = 0;
    }
 if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE;
 
 
}

 
//############################################################################
//

// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)  // Neutralwerte
                    {
                    if(++delay_neutral > 200)  // nicht sofort
                        {
 
                        MotorenEin = 0;
                        delay_neutral = 0;
                        modell_fliegt = 0;
                        if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)
                        {

                 else
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)  // ACC Neutralwerte speichern
                    {
                    if(++delay_neutral > 200)  // nicht sofort
                        {
 
                        MotorenEin = 0;
                        delay_neutral = 0;
                        modell_fliegt = 0;
                        SetNeutral(1);
                        calibration_done = 1;

                                        {
                                                FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
                                        }
                                        FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP;
                                        // Limit the maximum Altitude
                                        if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0;
                                        else
                                        {
//                                      SollHoehe = (long) Parameter_MaximumAltitude * 100L;
//                                      HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
                                        AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));
                                        VarioCharacter = '+';
                                        }
                                        WaypointTrimming = 0;
                                } // gas stick is below hoover point
                                else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )
                                {
                                        if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP)

                                         {
                                          if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint;
                                          else SollHoehe += WaypointTrimming;
                                          }
                                        else
                                          {
                                          if(HeightTrimming > 0)        SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3;
                                          else                    SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3;
                                          }
                                        HeightTrimming = 0;
                                        LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied
                                        if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100;
                                        //update hoover gas stick value when setpoint is shifted
                       if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0)

Rev 1954	Rev 1966
Line 156...	Line 156...
156	unsigned char Parameter_NaviWindCorrection;	156	unsigned char Parameter_NaviWindCorrection;
157	unsigned char Parameter_NaviSpeedCompensation;	157	unsigned char Parameter_NaviSpeedCompensation;
158	unsigned char Parameter_ExternalControl;	158	unsigned char Parameter_ExternalControl;
159	unsigned char Parameter_GlobalConfig;	159	unsigned char Parameter_GlobalConfig;
160	unsigned char Parameter_ExtraConfig;	160	unsigned char Parameter_ExtraConfig;
161	unsigned char Parameter_MaximumAltitude = 40;	161	unsigned char Parameter_MaximumAltitude;
162	unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;	162	unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
163	unsigned char CareFree = 0;	163	unsigned char CareFree = 0;
164	const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps	164	const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps
Line 165...	Line 165...
165		165
Line 213...	Line 213...
213		213
214		214
215	void Piep(unsigned char Anzahl, unsigned int dauer)	215	void Piep(unsigned char Anzahl, unsigned int dauer)
-		216	{
216	{	217	if(MotorenEin) return; //auf keinen Fall im Flug!
217	if(MotorenEin) return; //auf keinen Fall im Flug!	218	GRN_OFF;
218	while(Anzahl--)	219	while(Anzahl--)
219	{	220	{
220	beeptime = dauer;	221	beeptime = dauer;
221	while(beeptime);	222	while(beeptime);
-		223	Delay_ms(dauer * 2);
222	Delay_ms(dauer * 2);	224	}
Line 223...	Line 225...
223	}	225	GRN_ON;
224	}	226	}
225		227
Line 649...	Line 651...
649	beeptime = 15000;	651	beeptime = 15000;
650	BeepMuster = 0xA400;	652	BeepMuster = 0xA400;
651	CareFree = 0;	653	CareFree = 0;
652	}	654	}
653	if(CareFree) { FC_StatusFlags2 \|= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE;	655	if(CareFree) { FC_StatusFlags2 \|= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE;
654	// Limit the maximum Altitude	-
655	if(Parameter_MaximumAltitude) if(SollHoehe/100 > Parameter_MaximumAltitude) SollHoehe = (long) Parameter_MaximumAltitude * 100L;	-
656	}	656	}
Line 657...	Line 657...
657		657
658	//############################################################################	658	//############################################################################
659	//	659	//
Line 735...	Line 735...
735	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	735	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
736	if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte	736	if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte
737	{	737	{
738	if(++delay_neutral > 200) // nicht sofort	738	if(++delay_neutral > 200) // nicht sofort
739	{	739	{
740	GRN_OFF;	-
741	MotorenEin = 0;	740	MotorenEin = 0;
742	delay_neutral = 0;	741	delay_neutral = 0;
743	modell_fliegt = 0;	742	modell_fliegt = 0;
744	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 \|\| abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)	743	if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 \|\| abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)
745	{	744	{
Line 777...	Line 776...
777	else	776	else
778	if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern	777	if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern
779	{	778	{
780	if(++delay_neutral > 200) // nicht sofort	779	if(++delay_neutral > 200) // nicht sofort
781	{	780	{
782	GRN_OFF;	-
783	MotorenEin = 0;	781	MotorenEin = 0;
784	delay_neutral = 0;	782	delay_neutral = 0;
785	modell_fliegt = 0;	783	modell_fliegt = 0;
786	SetNeutral(1);	784	SetNeutral(1);
787	calibration_done = 1;	785	calibration_done = 1;
Line 1464...	Line 1462...
1464	{	1462	{
1465	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;	1463	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;
1466	SollHoehe = HoehenWert; // update setpoint to current heigth	1464	SollHoehe = HoehenWert; // update setpoint to current heigth
1467	}	1465	}
1468	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_UP;	1466	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_UP;
-		1467	// Limit the maximum Altitude
1469	AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));	1468	if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0;
-		1469	else
-		1470	{
-		1471	// SollHoehe = (long) Parameter_MaximumAltitude * 100L;
1470	// HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));	1472	// HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
-		1473	AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));
1471	VarioCharacter = '+';	1474	VarioCharacter = '+';
-		1475	}
1472	WaypointTrimming = 0;	1476	WaypointTrimming = 0;
1473	} // gas stick is below hoover point	1477	} // gas stick is below hoover point
1474	else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )	1478	else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )
1475	{	1479	{
1476	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP)	1480	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP)
Line 1536...	Line 1540...
1536	{	1540	{
1537	if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint;	1541	if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint;
1538	else SollHoehe += WaypointTrimming;	1542	else SollHoehe += WaypointTrimming;
1539	}	1543	}
1540	else	1544	else
1541		1545	{
1542	if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3;	1546	if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3;
1543	else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3;	1547	else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3;
-		1548	}
1544	HeightTrimming = 0;	1549	HeightTrimming = 0;
1545	LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied	1550	LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied
1546	if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100;	1551	if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100;
1547	//update hoover gas stick value when setpoint is shifted	1552	//update hoover gas stick value when setpoint is shifted
1548	if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0)	1553	if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0)

Subversion Repositories FlightCtrl

(root)/branches/V0.88n_ACC-HH_HR_MartinR/fc.c @ 2177 - Rev 1954 → 1966