Rev 2072 | Rev 2146 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2072 | Rev 2090 | ||
|---|---|---|---|
| Line 642... | Line 642... | ||
| 642 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
642 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
| 643 | if(carefree_old != CareFree) |
643 | if(carefree_old != CareFree) |
| 644 | { |
644 | { |
| 645 | if(carefree_old < 3) |
645 | if(carefree_old < 3) |
| 646 | { |
646 | { |
| - | 647 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
|
| - | 648 | if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
|
| - | 649 | else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
|
| - | 650 | #else |
|
| 647 | if(CareFree) beeptime = 1500; |
651 | if(CareFree) beeptime = 1500; |
| 648 | else beeptime = 200; |
652 | else beeptime = 200; |
| - | 653 | #endif |
|
| 649 | NeueKompassRichtungMerken = 5; |
654 | NeueKompassRichtungMerken = 5; |
| 650 | carefree_old = CareFree; |
655 | carefree_old = CareFree; |
| 651 | } else carefree_old--; |
656 | } else carefree_old--; |
| 652 | } |
657 | } |
| 653 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
658 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
| Line 753... | Line 758... | ||
| 753 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
758 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 754 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
759 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| 755 | { |
760 | { |
| 756 | if(++delay_neutral > 200) // nicht sofort |
761 | if(++delay_neutral > 200) // nicht sofort |
| 757 | { |
762 | { |
| - | 763 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
|
| 758 | MotorenEin = 0; |
764 | SpeakHoTT = SPEAK_CALIBRATE; |
| - | 765 | #endif |
|
| 759 | delay_neutral = 0; |
766 | delay_neutral = 0; |
| 760 | modell_fliegt = 0; |
767 | modell_fliegt = 0; |
| 761 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
768 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| 762 | { |
769 | { |
| 763 | unsigned char setting=1; |
770 | unsigned char setting=1; |
| Line 838... | Line 845... | ||
| 838 | SummeNick = 0; |
845 | SummeNick = 0; |
| 839 | SummeRoll = 0; |
846 | SummeRoll = 0; |
| 840 | FC_StatusFlags |= FC_STATUS_START; |
847 | FC_StatusFlags |= FC_STATUS_START; |
| 841 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
848 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| 842 | NeueKompassRichtungMerken = 100; // 2 sekunden |
849 | NeueKompassRichtungMerken = 100; // 2 sekunden |
| - | 850 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
|
| - | 851 | SpeakHoTT = SPEAK_STARTING; |
|
| - | 852 | #endif |
|
| 843 | } |
853 | } |
| 844 | else |
854 | else |
| 845 | { |
855 | { |
| 846 | beeptime = 1500; // indicate missing calibration |
856 | beeptime = 1500; // indicate missing calibration |
| - | 857 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
|
| - | 858 | SpeakHoTT = SPEAK_ERR_CALIBARTION; |
|
| - | 859 | #endif |
|
| 847 | } |
860 | } |
| 848 | } |
861 | } |
| 849 | } |
862 | } |
| 850 | else delay_einschalten = 0; |
863 | else delay_einschalten = 0; |
| 851 | } |
864 | } |
| Line 859... | Line 872... | ||
| 859 | if(++delay_ausschalten > 200) // nicht sofort |
872 | if(++delay_ausschalten > 200) // nicht sofort |
| 860 | { |
873 | { |
| 861 | MotorenEin = 0; |
874 | MotorenEin = 0; |
| 862 | delay_ausschalten = 0; |
875 | delay_ausschalten = 0; |
| 863 | modell_fliegt = 0; |
876 | modell_fliegt = 0; |
| - | 877 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
|
| - | 878 | SpeakHoTT = SPEAK_MK_OFF; |
|
| - | 879 | #endif |
|
| 864 | } |
880 | } |
| 865 | } |
881 | } |
| 866 | else delay_ausschalten = 0; |
882 | else delay_ausschalten = 0; |
| 867 | } |
883 | } |
| 868 | } |
884 | } |
| Line 1424... | Line 1440... | ||
| 1424 | { // check if parameter is less than activation threshold |
1440 | { // check if parameter is less than activation threshold |
| 1425 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
1441 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
| 1426 | { //height control not active |
1442 | { //height control not active |
| 1427 | if(!delay--) |
1443 | if(!delay--) |
| 1428 | { |
1444 | { |
| - | 1445 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
|
| - | 1446 | if(HoehenReglerAktiv && !SpeakHoTT) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
|
| - | 1447 | #endif |
|
| 1429 | HoehenReglerAktiv = 0; // disable height control |
1448 | HoehenReglerAktiv = 0; // disable height control |
| 1430 | SollHoehe = HoehenWert; // update SetPoint with current reading |
1449 | SollHoehe = HoehenWert; // update SetPoint with current reading |
| 1431 | delay = 1; |
1450 | delay = 1; |
| 1432 | } |
1451 | } |
| 1433 | } |
1452 | } |
| 1434 | else |
1453 | else |
| - | 1454 | if(Parameter_HoehenSchalter > 70) |
|
| 1435 | { //height control is activated |
1455 | { //height control is activated |
| - | 1456 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
|
| - | 1457 | if(!HoehenReglerAktiv && !SpeakHoTT) SpeakHoTT = SPEAK_ALTITUDE_ON; |
|
| - | 1458 | #endif |
|
| 1436 | HoehenReglerAktiv = 1; // enable height control |
1459 | HoehenReglerAktiv = 1; // enable height control |
| 1437 | delay = 200; |
1460 | delay = 200; |
| 1438 | } |
1461 | } |
| 1439 | } |
1462 | } |
| 1440 | else // no switchable height control |
1463 | else // no switchable height control |
| Line 1870... | Line 1893... | ||
| 1870 | Motor[i].SetPoint = 0; |
1893 | Motor[i].SetPoint = 0; |
| 1871 | Motor[i].SetPointLowerBits = 0; |
1894 | Motor[i].SetPointLowerBits = 0; |
| 1872 | } |
1895 | } |
| 1873 | } |
1896 | } |
| 1874 | } |
1897 | } |
| - | 1898 | //DebugOut.Analog[16] |
|