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| Rev 1653 | Rev 1654 | ||
|---|---|---|---|
| Line 94... | Line 94... | ||
| 94 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
94 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| 95 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
95 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
| 96 | volatile unsigned char SenderOkay = 0; |
96 | volatile unsigned char SenderOkay = 0; |
| 97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| 98 | char MotorenEin = 0; |
98 | char MotorenEin = 0; |
| 99 | unsigned char RequiredMotors = 0; |
- | |
| 100 | long HoehenWert = 0; |
99 | long HoehenWert = 0; |
| 101 | long SollHoehe = 0; |
100 | long SollHoehe = 0; |
| 102 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| 103 | //float Ki = FAKTOR_I; |
102 | //float Ki = FAKTOR_I; |
| 104 | int Ki = (10300/2) / 33; |
103 | int Ki = (10300/2) / 33; |
| Line 1633... | Line 1632... | ||
| 1633 | { |
1632 | { |
| 1634 | signed int tmp_int; |
1633 | signed int tmp_int; |
| 1635 | if(Mixer.Motor[i][0] > 0) |
1634 | if(Mixer.Motor[i][0] > 0) |
| 1636 | { |
1635 | { |
| 1637 | // Gas |
1636 | // Gas |
| 1638 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil * 2; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 32L; |
1637 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil * 2; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 32L; |
| 1639 | // Nick |
1638 | // Nick |
| 1640 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
1639 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
| 1641 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
1640 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
| 1642 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
1641 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
| 1643 | // Roll |
1642 | // Roll |