Rev 2486 | Rev 2492 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2486 | Rev 2491 | ||
|---|---|---|---|
| Line 212... | Line 212... | ||
| 212 | DebugOut.Analog[12] = Motor[0].SetPoint; |
212 | DebugOut.Analog[12] = Motor[0].SetPoint; |
| 213 | DebugOut.Analog[13] = Motor[1].SetPoint; |
213 | DebugOut.Analog[13] = Motor[1].SetPoint; |
| 214 | DebugOut.Analog[14] = Motor[2].SetPoint; |
214 | DebugOut.Analog[14] = Motor[2].SetPoint; |
| 215 | DebugOut.Analog[15] = Motor[3].SetPoint; |
215 | DebugOut.Analog[15] = Motor[3].SetPoint; |
| 216 | DebugOut.Analog[20] = ServoNickValue; |
216 | DebugOut.Analog[20] = ServoNickValue; |
| 217 | DebugOut.Analog[21] = HoverGas; |
217 | DebugOut.Analog[21] = HoverGas; |
| 218 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
218 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
| 219 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
219 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
| 220 | DebugOut.Analog[24] = SollHoehe/10; |
220 | DebugOut.Analog[24] = SollHoehe/10; |
| 221 | // DebugOut.Analog[27] = KompassSollWert; |
221 | // DebugOut.Analog[27] = KompassSollWert; |
| 222 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
222 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
| Line 2210... | Line 2210... | ||
| 2210 | // send SPI pending bytes |
2210 | // send SPI pending bytes |
| 2211 | if(BytegapSPI == 0) SPI_TransmitByte(); |
2211 | if(BytegapSPI == 0) SPI_TransmitByte(); |
| 2212 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2212 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2213 | // + Mischer und PI-Regler |
2213 | // + Mischer und PI-Regler |
| 2214 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2214 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2215 | DebugOut.Analog[7] = GasMischanteil; |
2215 | DebugOut.Analog[7] = GasMischanteil; // achtung: Muss auf [7] bleiben wegen SPI.C |
| 2216 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2216 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2217 | // Gier-Anteil |
2217 | // Gier-Anteil |
| 2218 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2218 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2219 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
2219 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| 2220 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
2220 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |