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Rev 1497 | Rev 1521 | ||
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Line 485... | Line 485... | ||
485 | } |
485 | } |
486 | else FCFlags |= FCFLAG_MOTOR_RUN; |
486 | else FCFlags |= FCFLAG_MOTOR_RUN; |
Line 487... | Line 487... | ||
487 | 487 | ||
488 | DebugOut.Analog[12] = Motor[0].SetPoint; |
488 | DebugOut.Analog[12] = Motor[0].SetPoint; |
489 | DebugOut.Analog[13] = Motor[1].SetPoint; |
489 | DebugOut.Analog[13] = Motor[1].SetPoint; |
490 | DebugOut.Analog[14] = Motor[3].SetPoint; |
490 | DebugOut.Analog[14] = Motor[2].SetPoint; |
Line 491... | Line 491... | ||
491 | DebugOut.Analog[15] = Motor[2].SetPoint; |
491 | DebugOut.Analog[15] = Motor[3].SetPoint; |
492 | 492 | ||
493 | //Start I2C Interrupt Mode |
493 | //Start I2C Interrupt Mode |
494 | twi_state = 0; |
494 | twi_state = 0; |
Line 694... | Line 694... | ||
694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
695 | // Gas ist unten |
695 | // Gas ist unten |
696 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
696 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
697 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
697 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
698 | { |
698 | { |
- | 699 | // Motoren Starten |
|
- | 700 | if(!MotorenEin) |
|
699 | // Starten |
701 | { |
700 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
702 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
701 | { |
703 | { |
702 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
704 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
703 | // Einschalten |
705 | // Einschalten |
704 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
706 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
705 | if(++delay_einschalten > 200) |
707 | if(++delay_einschalten > 200) |
706 | { |
708 | { |
707 | delay_einschalten = 200; |
709 | delay_einschalten = 0; |
708 | modell_fliegt = 1; |
710 | modell_fliegt = 1; |
709 | MotorenEin = 1; |
711 | MotorenEin = 1; |
710 | sollGier = 0; |
712 | sollGier = 0; |
711 | Mess_Integral_Gier = 0; |
713 | Mess_Integral_Gier = 0; |
712 | Mess_Integral_Gier2 = 0; |
714 | Mess_Integral_Gier2 = 0; |
713 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
715 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
714 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
716 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
715 | Mess_IntegralNick2 = IntegralNick; |
717 | Mess_IntegralNick2 = IntegralNick; |
716 | Mess_IntegralRoll2 = IntegralRoll; |
718 | Mess_IntegralRoll2 = IntegralRoll; |
717 | SummeNick = 0; |
719 | SummeNick = 0; |
718 | SummeRoll = 0; |
720 | SummeRoll = 0; |
719 | FCFlags |= FCFLAG_START; |
721 | FCFlags |= FCFLAG_START; |
720 | } |
722 | } |
721 | } |
723 | } |
722 | else delay_einschalten = 0; |
724 | else delay_einschalten = 0; |
723 | //Auf Neutralwerte setzen |
- | |
- | 725 | } |
|
724 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
726 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
725 | // Auschalten |
727 | // Auschalten |
726 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
728 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | 729 | else // only if motors are running |
|
- | 730 | { |
|
727 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
731 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
728 | { |
732 | { |
729 | if(++delay_ausschalten > 200) // nicht sofort |
733 | if(++delay_ausschalten > 200) // nicht sofort |
730 | { |
734 | { |
731 | MotorenEin = 0; |
735 | MotorenEin = 0; |
732 | delay_ausschalten = 200; |
736 | delay_ausschalten = 0; |
733 | modell_fliegt = 0; |
737 | modell_fliegt = 0; |
734 | } |
738 | } |
735 | } |
739 | } |
736 | else delay_ausschalten = 0; |
740 | else delay_ausschalten = 0; |
- | 741 | } |
|
737 | } |
742 | } |
738 | } |
743 | } |
739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
744 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
740 | // neue Werte von der Funke |
745 | // neue Werte von der Funke |
741 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
746 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
Line 1589... | Line 1594... | ||
1589 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
1594 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
Line 1590... | Line 1595... | ||
1590 | 1595 | ||
1591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1596 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1592 | // Universal Mixer |
1597 | // Universal Mixer |
1593 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1598 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1594 | for(i=0; i<MAX_MOTORS; i++) |
1599 | for(i=0; i<MAX_MOTORS; i++) |
1595 | { |
1600 | { |
1596 | signed int tmp_int; |
1601 | signed int tmp_int; |
1597 | if(Mixer.Motor[i][0] > 0) |
1602 | if(Mixer.Motor[i][0] > 0) |
1598 | { |
1603 | { |