Rev 1948 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1948 | Rev 1954 | ||
|---|---|---|---|
| Line 687... | Line 687... | ||
| 687 | { |
687 | { |
| 688 | if(RcLostTimer) RcLostTimer--; |
688 | if(RcLostTimer) RcLostTimer--; |
| 689 | else |
689 | else |
| 690 | { |
690 | { |
| 691 | MotorenEin = 0; |
691 | MotorenEin = 0; |
| - | 692 | modell_fliegt = 0; |
|
| 692 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
693 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
| 693 | } |
694 | } |
| 694 | ROT_ON; |
695 | ROT_ON; |
| 695 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
696 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| 696 | { |
697 | { |
| 697 | GasMischanteil = EE_Parameter.NotGas; |
698 | GasMischanteil = EE_Parameter.NotGas; |
| Line 700... | Line 701... | ||
| 700 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
701 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 701 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
702 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 702 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
703 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 703 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
704 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| 704 | } |
705 | } |
| - | 706 | else |
|
| - | 707 | { |
|
| 705 | else MotorenEin = 0; |
708 | MotorenEin = 0; |
| - | 709 | } |
|
| 706 | } |
710 | } |
| 707 | else |
711 | else |
| 708 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
712 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 709 | // Emfang gut |
713 | // Emfang gut |
| 710 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
714 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 1030... | Line 1034... | ||
| 1030 | 1034 | ||
| 1031 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1035 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1032 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
1036 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| 1033 | { |
1037 | { |
| 1034 | long tmp_long, tmp_long2; |
- | |
| 1035 | - | ||
| 1036 | //if(Poti3 < 120) FromNaviCtrl_Value.Kalman_K = Poti3/2; |
- | |
| 1037 | //DebugOut.Analog[25] = FromNaviCtrl_Value.Kalman_K; |
- | |
| 1038 | //DebugOut.Analog[26] = FromNaviCtrl_Value.Kalman_MaxFusion; |
- | |
| 1039 | //DebugOut.Analog[16] = (Mittelwert_AccNick-FromNaviCtrl.AccErrorN) / 4; |
- | |
| 1040 | //DebugOut.Analog[18] = (Mittelwert_AccRoll-FromNaviCtrl.AccErrorR) / 4; |
- | |
| 1041 | //DebugOut.Analog[19] = -FromNaviCtrl.AccErrorR / 4; |
- | |
| 1042 | 1038 | long tmp_long, tmp_long2; |
|
| 1043 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
1039 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
| 1044 | { |
1040 | { |
| 1045 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
1041 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
| 1046 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
1042 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |