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Rev 1298 | Rev 1309 | ||
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Line 342... | Line 342... | ||
342 | UpdateMotor=0; |
342 | UpdateMotor=0; |
343 | if(WinkelOut.CalcState) CalMk3Mag(); |
343 | if(WinkelOut.CalcState) CalMk3Mag(); |
344 | else MotorRegler(); |
344 | else MotorRegler(); |
345 | SendMotorData(); |
345 | SendMotorData(); |
346 | ROT_OFF; |
346 | ROT_OFF; |
347 | if(PcZugriff) PcZugriff--; |
- | |
348 | else |
- | |
349 | { |
- | |
350 | ExternControl.Config = 0; |
- | |
351 | ExternStickNick = 0; |
- | |
352 | ExternStickRoll = 0; |
- | |
353 | ExternStickGier = 0; |
- | |
354 | } |
- | |
355 | if(SenderOkay) SenderOkay--; |
347 | if(SenderOkay) SenderOkay--; |
356 | else |
- | |
357 | { |
- | |
358 | TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
348 | else TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
359 | } |
- | |
- | 349 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
360 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
350 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
361 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
351 | //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
- | 352 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
362 | if(NaviDataOkay) |
353 | if(NaviDataOkay) |
363 | { |
354 | { |
364 | if(--NaviDataOkay == 0) |
355 | if(--NaviDataOkay == 0) |
365 | { |
356 | { |
366 | GPS_Nick = 0; |
357 | GPS_Nick = 0; |
Line 390... | Line 381... | ||
390 | BearbeiteRxDaten(); |
381 | BearbeiteRxDaten(); |
391 | } |
382 | } |
392 | else BearbeiteRxDaten(); |
383 | else BearbeiteRxDaten(); |
393 | if(CheckDelay(timer)) |
384 | if(CheckDelay(timer)) |
394 | { |
385 | { |
- | 386 | if(PcZugriff) PcZugriff--; |
|
- | 387 | else |
|
- | 388 | { |
|
- | 389 | ExternControl.Config = 0; |
|
- | 390 | ExternStickNick = 0; |
|
- | 391 | ExternStickRoll = 0; |
|
- | 392 | ExternStickGier = 0; |
|
- | 393 | if(BeepMuster == 0xffff && SenderOkay == 0) |
|
- | 394 | { |
|
- | 395 | beeptime = 15000; |
|
- | 396 | BeepMuster = 0x0c00; |
|
- | 397 | } |
|
- | 398 | } |
|
395 | if(UBat < BattLowVoltageWarning) |
399 | if(UBat < BattLowVoltageWarning) |
396 | { |
400 | { |
397 | MikroKopterFlags |= FLAG_LOWBAT; |
401 | MikroKopterFlags |= FLAG_LOWBAT; |
398 | if(BeepMuster == 0xffff) |
402 | if(BeepMuster == 0xffff) |
399 | { |
403 | { |
400 | beeptime = 6000; |
404 | beeptime = 6000; |
401 | BeepMuster = 0x0300; |
405 | BeepMuster = 0x0300; |
402 | } |
406 | } |
403 | } |
407 | } |
404 | else MikroKopterFlags &= ~FLAG_LOWBAT; |
408 | else MikroKopterFlags &= ~FLAG_LOWBAT; |
405 | SPI_StartTransmitPacket(); |
409 | SPI_StartTransmitPacket(); |
406 | - | ||
407 | SendSPI = 4; |
410 | SendSPI = 4; |
408 | if(!MotorenEin) timer2 = 1300; // 0,5 Minuten aufrunden |
411 | if(!MotorenEin) timer2 = 1300; // 0,5 Minuten aufrunden |
409 | if(++timer2 == 2600) // eine Minute |
412 | if(++timer2 == 2600) // eine Minute |
410 | { |
413 | { |
411 | timer2 = 0; |
414 | timer2 = 0; |