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| 55 | 55 | ||
| 56 | #include "main.h" |
56 | #include "main.h" |
| 57 | #include "mymath.h" |
57 | #include "mymath.h" |
| Line -... | Line 58... | ||
| - | 58 | #include "isqrt.h" |
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| - | 59 | ||
| - | 60 | //MartinW; added vars |
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| - | 61 | unsigned char loop1, loop2, loop3; |
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| - | 62 | unsigned char settingdest = 5; |
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| - | 63 | int keynumber=-7; |
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| - | 64 | ||
| - | 65 | unsigned short CurrentOffset = 0;/// |
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| - | 66 | ||
| - | 67 | unsigned char pos1, pos2, pos3, pos4=0; |
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| - | 68 | unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7; |
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| - | 69 | unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max; |
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| - | 70 | unsigned short MotorsTmax; |
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| - | 71 | unsigned char updatemotors=5; |
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| - | 72 | //MartinW; added vars |
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| 58 | #include "isqrt.h" |
73 | |
| 59 | 74 | ||
| 60 | unsigned char h,m,s; |
75 | unsigned char h,m,s; |
| 61 | unsigned int BaroExpandActive = 0; |
76 | unsigned int BaroExpandActive = 0; |
| 62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
77 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| Line 185... | Line 200... | ||
| 185 | DebugOut.Analog[13] = Motor[1].SetPoint; |
200 | DebugOut.Analog[13] = Motor[1].SetPoint; |
| 186 | DebugOut.Analog[14] = Motor[2].SetPoint; |
201 | DebugOut.Analog[14] = Motor[2].SetPoint; |
| 187 | DebugOut.Analog[15] = Motor[3].SetPoint; |
202 | DebugOut.Analog[15] = Motor[3].SetPoint; |
| 188 | DebugOut.Analog[20] = ServoNickValue; |
203 | DebugOut.Analog[20] = ServoNickValue; |
| 189 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
204 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
| 190 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
205 | DebugOut.Analog[23] = Capacity.RemainCapacity; |
| 191 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
206 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
| 192 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
207 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| 193 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
208 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
| 194 | DebugOut.Analog[30] = GPS_Nick; |
209 | DebugOut.Analog[30] = GPS_Nick; |
| 195 | DebugOut.Analog[31] = GPS_Roll; |
210 | DebugOut.Analog[31] = GPS_Roll; |
| Line 366... | Line 381... | ||
| 366 | //############################################################################ |
381 | //############################################################################ |
| 367 | { |
382 | { |
| 368 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
383 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| 369 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
384 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
| 370 | signed long winkel_nick, winkel_roll; |
385 | signed long winkel_nick, winkel_roll; |
| 371 | unsigned char i; |
386 | // unsigned char i; |
| 372 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
387 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| 373 | MesswertNick = (signed int) AdWertNickFilter / 8; |
388 | MesswertNick = (signed int) AdWertNickFilter / 8; |
| 374 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
389 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
| 375 | RohMesswertNick = MesswertNick; |
390 | RohMesswertNick = MesswertNick; |
| 376 | RohMesswertRoll = MesswertRoll; |
391 | RohMesswertRoll = MesswertRoll; |