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| Rev 1586 | Rev 1587 | ||
|---|---|---|---|
| Line 1241... | Line 1241... | ||
| 1241 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
1241 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| 1242 | { |
1242 | { |
| 1243 | #define HOOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
1243 | #define HOOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
| 1244 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
1244 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| 1245 | #define OPA_OFFSET_STEP 10 |
1245 | #define OPA_OFFSET_STEP 10 |
| 1246 | int HCGas, HeightDeviation; |
1246 | int HCGas, HeightDeviation = 0; |
| 1247 | static int HeightTrimming = 0; // rate for change of height setpoint |
1247 | static int HeightTrimming = 0; // rate for change of height setpoint |
| 1248 | static int FilterHCGas = 0; |
1248 | static int FilterHCGas = 0; |
| 1249 | static int StickGasHoover = 120, HooverGas = 0, HooverGasMin = 0, HooverGasMax = 1023; |
1249 | static int StickGasHover = 120, HoverGas = 0, HoverGasMin = 0, HoverGasMax = 1023; |
| 1250 | static unsigned long HooverGasFilter = 0; |
1250 | static unsigned long HoverGasFilter = 0; |
| 1251 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
1251 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| 1252 | int CosAttitude; // for projection of hoover gas |
1252 | int CosAttitude; // for projection of hoover gas |
| Line 1253... | Line 1253... | ||
| 1253 | 1253 | ||
| 1254 | // get the current hooverpoint |
1254 | // get the current hooverpoint |
| 1255 | DebugOut.Analog[21] = HooverGas; |
1255 | DebugOut.Analog[21] = HoverGas; |
| Line 1256... | Line 1256... | ||
| 1256 | DebugOut.Analog[18] = VarioMeter; |
1256 | DebugOut.Analog[18] = VarioMeter; |
| 1257 | 1257 | ||
| 1258 | // Expand the measurement |
1258 | // Expand the measurement |
| Line 1356... | Line 1356... | ||
| 1356 | // PD-Control with respect to hoover point |
1356 | // PD-Control with respect to hoover point |
| 1357 | // the thrust loss out of horizontal attitude is compensated |
1357 | // the thrust loss out of horizontal attitude is compensated |
| 1358 | // the setpoint will be fine adjusted with the gas stick position |
1358 | // the setpoint will be fine adjusted with the gas stick position |
| 1359 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
1359 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
| 1360 | { // gas stick is above hoover point |
1360 | { // gas stick is above hoover point |
| 1361 | if(StickGas > (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
1361 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| 1362 | { |
1362 | { |
| 1363 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
1363 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
| 1364 | { |
1364 | { |
| 1365 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
1365 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
| 1366 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1366 | SollHoehe = HoehenWert; // update setpoint to current heigth |
| 1367 | } |
1367 | } |
| 1368 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
1368 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
| 1369 | HeightTrimming += abs(StickGas - (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
1369 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1370 | } // gas stick is below hoover point |
1370 | } // gas stick is below hoover point |
| 1371 | else if(StickGas < (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
1371 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| 1372 | { |
1372 | { |
| 1373 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
1373 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
| 1374 | { |
1374 | { |
| 1375 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
1375 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
| 1376 | SollHoehe = HoehenWert; // update setpoint to current heigth |
1376 | SollHoehe = HoehenWert; // update setpoint to current heigth |
| 1377 | } |
1377 | } |
| 1378 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
1378 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
| 1379 | HeightTrimming -= abs(StickGas - (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
1379 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1380 | } |
1380 | } |
| 1381 | else // Gas Stick in Hoover Range |
1381 | else // Gas Stick in Hover Range |
| 1382 | { |
1382 | { |
| 1383 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
1383 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
| 1384 | { |
1384 | { |
| 1385 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
1385 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
| 1386 | HeightTrimming = 0; |
1386 | HeightTrimming = 0; |
| Line 1391... | Line 1391... | ||
| 1391 | // Trim height set point |
1391 | // Trim height set point |
| 1392 | if(abs(HeightTrimming) > 512) |
1392 | if(abs(HeightTrimming) > 512) |
| 1393 | { |
1393 | { |
| 1394 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
1394 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
| 1395 | HeightTrimming = 0; |
1395 | HeightTrimming = 0; |
| 1396 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1396 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| 1397 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
1397 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
| 1398 | //update hoover gas stick value when setpoint is shifted |
1398 | //update hoover gas stick value when setpoint is shifted |
| 1399 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1399 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1400 | { |
1400 | { |
| 1401 | StickGasHoover = HooverGas/STICK_GAIN; //rescale back to stick value |
1401 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
| 1402 | StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning; |
1402 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
| 1403 | if(StickGasHoover < 70) StickGasHoover = 70; |
1403 | if(StickGasHover < 70) StickGasHover = 70; |
| 1404 | else if(StickGasHoover > 150) StickGasHoover = 150; |
1404 | else if(StickGasHover > 150) StickGasHover = 150; |
| 1405 | } |
1405 | } |
| 1406 | } |
1406 | } |
| 1407 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
1407 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
| 1408 | } //if FCFlags & MKFCFLAG_FLY |
1408 | } //if FCFlags & MKFCFLAG_FLY |
| 1409 | else |
1409 | else |
| 1410 | { |
1410 | { |
| 1411 | SollHoehe = HoehenWert - 400; |
1411 | SollHoehe = HoehenWert - 400; |
| 1412 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint; |
1412 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1413 | else StickGasHoover = 120; |
1413 | else StickGasHover = 120; |
| 1414 | } |
1414 | } |
| 1415 | HCGas = HooverGas; // take hoover gas (neutral point) |
1415 | HCGas = HoverGas; // take hoover gas (neutral point) |
| 1416 | } |
1416 | } |
| 1417 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
1417 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| 1418 | { |
1418 | { |
| 1419 | // ------------------------- P-Part ---------------------------- |
1419 | // ------------------------- P-Part ---------------------------- |
| 1420 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
1420 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
| 1421 | LIMIT_MIN_MAX(tmp_long, -2000, 2000); // avoid overflov when casting to int |
1421 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
| 1422 | HeightDeviation = (int)(tmp_long); // positive when too high |
1422 | HeightDeviation = (int)(tmp_long); // positive when too high |
| 1423 | tmp_int = (HeightDeviation * (long)Parameter_Hoehe_P) / 16; // p-part |
1423 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 16L; // p-part |
| - | 1424 | LIMIT_MIN_MAX(tmp_long, -255 * STICK_GAIN, 255 * STICK_GAIN); // more than 2 times the full range makes no sense |
|
| 1424 | HCGas -= tmp_int; |
1425 | HCGas -= tmp_long; |
| 1425 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
1426 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
| 1426 | tmp_int = VarioMeter / 8; |
1427 | tmp_long = VarioMeter / 8; |
| 1427 | if(tmp_int > 8) tmp_int = 8; // limit quadratic part on upward movement to avoid to much gas reduction |
1428 | if(tmp_long > 8) tmp_long = 8; // limit quadratic part on upward movement to avoid to much gas reduction |
| 1428 | if(tmp_int > 0) tmp_int = VarioMeter + (tmp_int * tmp_int) / 4; |
1429 | if(tmp_long > 0) tmp_long = VarioMeter + (tmp_long * tmp_long) / 4L; |
| 1429 | else tmp_int = VarioMeter - (tmp_int * tmp_int) / 4; |
1430 | else tmp_long = VarioMeter - (tmp_long * tmp_long) / 4L; |
| 1430 | tmp_int = (Parameter_Luftdruck_D * (long)(tmp_int)) / 128L; // scale to d-gain parameter |
1431 | tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 128L; // scale to d-gain parameter |
| 1431 | LIMIT_MIN_MAX(tmp_int, -127, 255); |
1432 | LIMIT_MIN_MAX(tmp_long,-32 * STICK_GAIN, 64 * STICK_GAIN); |
| 1432 | HCGas -= tmp_int; |
1433 | HCGas -= tmp_long; |
| 1433 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
1434 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| 1434 | tmp_int = ((Mess_Integral_Hoch / 128) * (long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
1435 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
| 1435 | LIMIT_MIN_MAX(tmp_int, -127, 255); |
1436 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
| - | 1437 | HCGas -= tmp_long; |
|
| - | 1438 | ||
| - | 1439 | if(BaroExpandActive) HCGas = HoverGas; |
|
| - | 1440 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
|
| - | 1441 | tmp_int = (Parameter_Hoehe_GPS_Z * (long)FromNaviCtrl_Value.GpsZ)/128L; |
|
| - | 1442 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
|
| 1436 | HCGas -= tmp_int; |
1443 | HCGas -= tmp_int; |
| - | 1444 | ||
| 1437 | // limit deviation from hoover point within the target region |
1445 | // limit deviation from hoover point within the target region |
| 1438 | if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HooverGas > 0)) // height setpoint is not changed and hoover gas not zero |
1446 | if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HoverGas > 0)) // height setpoint is not changed and hoover gas not zero |
| 1439 | { |
1447 | { |
| 1440 | LIMIT_MIN_MAX(HCGas, HooverGasMin, HooverGasMax); // limit gas around the hoover point |
1448 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
| 1441 | } |
1449 | } |
| Line 1442... | Line -... | ||
| 1442 | - | ||
| 1443 | if(BaroExpandActive) HCGas = HooverGas; |
- | |
| 1444 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
- | |
| 1445 | tmp_int = (Parameter_Hoehe_GPS_Z * (long)FromNaviCtrl_Value.GpsZ)/128L; |
- | |
| 1446 | LIMIT_MIN_MAX(tmp_int, -127, 255); |
- | |
| 1447 | HCGas -= tmp_int; |
1450 | |
| 1448 | // strech control output by inverse attitude projection 1/cos |
1451 | // strech control output by inverse attitude projection 1/cos |
| 1449 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
1452 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
| 1450 | tmp_long2 = (int32_t)HCGas; |
1453 | tmp_long2 = (int32_t)HCGas; |
| 1451 | tmp_long2 *= 8192L; |
1454 | tmp_long2 *= 8192L; |
| Line 1455... | Line 1458... | ||
| 1455 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
1458 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
| 1456 | // limit height control gas pd-control output |
1459 | // limit height control gas pd-control output |
| 1457 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
1460 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
| 1458 | // set GasMischanteil to HeightControlGasFilter |
1461 | // set GasMischanteil to HeightControlGasFilter |
| 1459 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
1462 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
| 1460 | { // old version |
1463 | { // old version |
| 1461 | if(FilterHCGas > GasMischanteil) FilterHCGas = GasMischanteil; // nicht mehr als Gas |
1464 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
| 1462 | } |
1465 | } |
| 1463 | GasMischanteil = FilterHCGas; |
1466 | GasMischanteil = FilterHCGas; |
| 1464 | } |
1467 | } |
| 1465 | }// EOF height control active |
1468 | }// EOF height control active |
| 1466 | else // HC not active |
1469 | else // HC not active |
| 1467 | { |
1470 | { |
| 1468 | //update hoover gas stick value when HC is not active |
1471 | //update hoover gas stick value when HC is not active |
| 1469 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
1472 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1470 | { |
1473 | { |
| 1471 | StickGasHoover = HooverGas/STICK_GAIN; // rescale back to stick value |
1474 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
| 1472 | StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning; |
1475 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
| 1473 | } |
1476 | } |
| 1474 | else StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint; |
1477 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1475 | if(StickGasHoover < 70) StickGasHoover = 70; |
- | |
| 1476 | else if(StickGasHoover > 150) StickGasHoover = 150; |
1478 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
| 1477 | FilterHCGas = GasMischanteil; |
1479 | FilterHCGas = GasMischanteil; |
| 1478 | } |
1480 | } |
| Line 1479... | Line 1481... | ||
| 1479 | 1481 | ||
| 1480 | // Hoover gas estimation by averaging gas control output on small z-velocities |
1482 | // Hover gas estimation by averaging gas control output on small z-velocities |
| 1481 | // this is done only if height contol option is selected in global config and aircraft is flying |
1483 | // this is done only if height contol option is selected in global config and aircraft is flying |
| 1482 | if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG)) |
1484 | if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG)) |
| 1483 | { |
1485 | { |
| 1484 | if(HooverGasFilter == 0) HooverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
1486 | if(HoverGasFilter == 0) HoverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| 1485 | if(abs(VarioMeter) < 100) // only on small vertical speed |
1487 | if(abs(VarioMeter) < 100) // only on small vertical speed |
| 1486 | { |
1488 | { |
| 1487 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
1489 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| 1488 | tmp_long2 *= CosAttitude; // apply attitude projection |
1490 | tmp_long2 *= CosAttitude; // apply attitude projection |
| Line 1489... | Line 1491... | ||
| 1489 | tmp_long2 /= 8192; |
1491 | tmp_long2 /= 8192; |
| 1490 | 1492 | ||
| 1491 | // average vertical projected thrust |
1493 | // average vertical projected thrust |
| 1492 | if(modell_fliegt < 2000) // the first 4 seconds |
1494 | if(modell_fliegt < 2000) // the first 4 seconds |
| 1493 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
1495 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
| 1494 | HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/8L); |
1496 | HoverGasFilter -= HoverGasFilter/(HOOVER_GAS_AVERAGE/8L); |
| 1495 | HooverGasFilter += 8L * tmp_long2; |
1497 | HoverGasFilter += 8L * tmp_long2; |
| 1496 | } |
1498 | } |
| 1497 | else if(modell_fliegt < 4000) // the first 8 seconds |
1499 | else if(modell_fliegt < 4000) // the first 8 seconds |
| 1498 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
1500 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
| 1499 | HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/4L); |
1501 | HoverGasFilter -= HoverGasFilter/(HOOVER_GAS_AVERAGE/4L); |
| 1500 | HooverGasFilter += 4L * tmp_long2; |
1502 | HoverGasFilter += 4L * tmp_long2; |
| 1501 | } |
1503 | } |
| 1502 | else if(modell_fliegt < 8000) // the first 16 seconds |
1504 | else if(modell_fliegt < 8000) // the first 16 seconds |
| 1503 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
1505 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
| 1504 | HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/2L); |
1506 | HoverGasFilter -= HoverGasFilter/(HOOVER_GAS_AVERAGE/2L); |
| 1505 | HooverGasFilter += 2L * tmp_long2; |
1507 | HoverGasFilter += 2L * tmp_long2; |
| 1506 | } |
1508 | } |
| 1507 | else //later |
1509 | else //later |
| 1508 | { |
1510 | { |
| 1509 | HooverGasFilter -= HooverGasFilter/HOOVER_GAS_AVERAGE; |
1511 | HoverGasFilter -= HoverGasFilter/HOOVER_GAS_AVERAGE; |
| 1510 | HooverGasFilter += tmp_long2; |
1512 | HoverGasFilter += tmp_long2; |
| 1511 | } |
1513 | } |
| 1512 | HooverGas = (int16_t)(HooverGasFilter/HOOVER_GAS_AVERAGE); |
1514 | HoverGas = (int16_t)(HoverGasFilter/HOOVER_GAS_AVERAGE); |
| 1513 | if(EE_Parameter.Hoehe_HoverBand) |
1515 | if(EE_Parameter.Hoehe_HoverBand) |
| 1514 | { |
1516 | { |
| 1515 | int16_t band; |
1517 | int16_t band; |
| 1516 | band = HooverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
1518 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| 1517 | HooverGasMin = HooverGas - band; |
1519 | HoverGasMin = HoverGas - band; |
| 1518 | HooverGasMax = HooverGas + band; |
1520 | HoverGasMax = HoverGas + band; |
| 1519 | } |
1521 | } |
| 1520 | else |
1522 | else |
| 1521 | { // no limit |
1523 | { // no limit |
| 1522 | HooverGasMin = 0; |
1524 | HoverGasMin = 0; |
| 1523 | HooverGasMax = 1023; |
1525 | HoverGasMax = 1023; |
| 1524 | } |
1526 | } |
| 1525 | } |
1527 | } |