Subversion Repositories FlightCtrl

#include "isqrt.h"

//MartinW; added vars

unsigned char loop1, loop2, loop3;

unsigned char settingdest = 5;

int keynumber=-7;

unsigned short CurrentOffset = 0;///

unsigned char pos1, pos2, pos3, pos4=0;

unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7;

unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max;

unsigned short MotorsTmax;

unsigned char updatemotors=5;

//MartinW; added vars

//MartinW added Debug ouputs

   DebugOut.Analog[16] = Motor[4].SetPoint;

    DebugOut.Analog[17] = Motor[5].SetPoint;

        DebugOut.Analog[24] = Motor[6].SetPoint;

    DebugOut.Analog[25] = Motor[7].SetPoint;

        DebugOut.Analog[26] = Motor[8].SetPoint;    

        DebugOut.Analog[27] = Motor[9].SetPoint;

//MartinW added Debug ouputs

                        else tmp_int = 2 * tmp_int - tmp_motorwert[i];                                                              // MotorSmoothing

*/

// MartinW; variable MS START

if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2;      // MotorSmoothing

//                      else tmp_int = 2 * tmp_int - tmp_motorwert[i];                                          // MotorSmoothing

// Arthur P: the original code allowed the motor value to drop to 0 or negative values

// straight off, i.e. could amplify an intended decrease excessively while upregulation

// is dampened. The modification would still allow immediate drop below intended value 

// but would dampen this. This would still allow for airbraking of the prop to have effect

// but it might lead to less sudden excessive drops in rpm with only gradual recovery.

// 090807 Arthur P: Due to problems with uart.c which still refers to user parameter 1 and 2 and 

// possible timing issues with the shutter interval load, removed the shutter interval functions

// and switched to use of userparam6 for the motor smoothing.

// 091114 Inserted modification into 0.76g source code.

// 20100804 Modified v.0.80d code where motorsmoothing is no longer a separate function.

// Downsmoothing either uses default v.0.7x+ 150% downstep (user para 7 == 0),

// 50% downstep (user para 7 == 1 or 2), or downsteps of x% (userpara7 ==):

// 66.6% (3), 75% (4), 80% (5), 90% (10), 95% (20), 97.5% (40), 98% (50), 99% (100).

                        else

                        {

                                if(Parameter_UserParam7 < 2)

                                { // Original function

                                        tmp_int = 2 * tmp_int - tmp_motorwert[i];

                                }

                                else

                                {

                                        // If userpara7 >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value.

                                        tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/Parameter_UserParam7);

                                }

                        }

// MartinW; variable MS END