Rev 2012 | Rev 2034 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2012 | Rev 2028 | ||
|---|---|---|---|
| Line 170... | Line 170... | ||
| 170 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
170 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
| 171 | long GIER_GRAD_FAKTOR = 1291; |
171 | long GIER_GRAD_FAKTOR = 1291; |
| 172 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
172 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| 173 | signed int tmp_motorwert[MAX_MOTORS]; |
173 | signed int tmp_motorwert[MAX_MOTORS]; |
| 174 | char VarioCharacter = ' '; |
174 | char VarioCharacter = ' '; |
| - | 175 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
|
| Line 175... | Line 176... | ||
| 175 | 176 | ||
| 176 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
177 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| 177 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
178 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
| Line 676... | Line 677... | ||
| 676 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
677 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| 677 | static char NeueKompassRichtungMerken = 0; |
678 | static char NeueKompassRichtungMerken = 0; |
| 678 | static long ausgleichNick, ausgleichRoll; |
679 | static long ausgleichNick, ausgleichRoll; |
| 679 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
680 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 680 | unsigned char i; |
681 | unsigned char i; |
| 681 | unsigned int HooverGas80Percent; |
- | |
| 682 | Mittelwert(); |
682 | Mittelwert(); |
| 683 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
683 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 684 | // Gaswert ermitteln |
684 | // Gaswert ermitteln |
| 685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
685 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 686 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
|
| - | 687 | { |
|
| - | 688 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
|
| - | 689 | { |
|
| 686 | HooverGas80Percent = HoverGas/(STICK_GAIN + STICK_GAIN/4); // 80% of Hovergas |
690 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
| - | 691 | } |
|
| - | 692 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
|
| - | 693 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
|
| - | 694 | ||
| 687 | GasMischanteil = StickGas; |
695 | GasMischanteil = StickGas; |
| 688 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
696 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| 689 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
697 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 690 | // Empfang schlecht |
698 | // Empfang schlecht |
| 691 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
699 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 699... | Line 707... | ||
| 699 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
707 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
| 700 | } |
708 | } |
| 701 | ROT_ON; |
709 | ROT_ON; |
| 702 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
710 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
| 703 | { |
711 | { |
| 704 | GasMischanteil = EE_Parameter.NotGas; |
712 | GasMischanteil = HooverGasEmergencyPercent; |
| 705 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
- | |
| 706 | { |
- | |
| 707 | if(HoverGas && HoverGas < 150 * STICK_GAIN) GasMischanteil = HooverGas80Percent; // 80% of Hovergas |
- | |
| 708 | } |
- | |
| 709 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
713 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
| 710 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
714 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 711 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
715 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 712 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
716 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 713 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
717 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| Line 1733... | Line 1737... | ||
| 1733 | { |
1737 | { |
| 1734 | // set undefined state to indicate vario off |
1738 | // set undefined state to indicate vario off |
| 1735 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
1739 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| 1736 | } // EOF no height control |
1740 | } // EOF no height control |
| Line 1737... | Line 1741... | ||
| 1737 | 1741 | ||
| 1738 | // limit gas to parameter setting |
1742 | // Linits the maximum gas in case of "Out of Range emergency landing" |
| 1739 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
1743 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
| 1740 | { |
1744 | { |
| 1741 | if(GasMischanteil/STICK_GAIN > HooverGas80Percent && HoverGas) GasMischanteil = HooverGas80Percent * STICK_GAIN; |
1745 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
| 1742 | beeptime = 15000; |
1746 | beeptime = 15000; |
| 1743 | BeepMuster = 0x0E00; |
1747 | BeepMuster = 0x0E00; |
| - | 1748 | } |
|
| 1744 | } |
1749 | // limit gas to parameter setting |
| 1745 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
1750 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| Line 1746... | Line 1751... | ||
| 1746 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
1751 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| 1747 | 1752 | ||