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| Rev 2050 | Rev 2061 | ||
|---|---|---|---|
| Line 107... | Line 107... | ||
| 107 | unsigned char FromNC_AltitudeSpeed = 0; |
107 | unsigned char FromNC_AltitudeSpeed = 0; |
| 108 | unsigned char carefree_old = 50; // to make the Beep when switching |
108 | unsigned char carefree_old = 50; // to make the Beep when switching |
| 109 | signed char WaypointTrimming = 0; |
109 | signed char WaypointTrimming = 0; |
| 110 | int CompassGierSetpoint = 0; |
110 | int CompassGierSetpoint = 0; |
| 111 | unsigned char CalibrationDone = 0; |
111 | unsigned char CalibrationDone = 0; |
| - | 112 | char NeueKompassRichtungMerken = 0; |
|
| 112 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
113 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
| 113 | //float Ki = FAKTOR_I; |
114 | //float Ki = FAKTOR_I; |
| 114 | int Ki = 10300 / 33; |
115 | int Ki = 10300 / 33; |
| 115 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
116 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| 116 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
117 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| Line 641... | Line 642... | ||
| 641 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
642 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
| 642 | if(carefree_old != CareFree) |
643 | if(carefree_old != CareFree) |
| 643 | { |
644 | { |
| 644 | if(carefree_old < 3) |
645 | if(carefree_old < 3) |
| 645 | { |
646 | { |
| 646 | if(CareFree) beeptime = 1500; |
647 | if(CareFree) { beeptime = 1500; NeueKompassRichtungMerken = 5;} |
| 647 | else beeptime = 200; |
648 | else beeptime = 200; |
| 648 | carefree_old = CareFree; |
649 | carefree_old = CareFree; |
| 649 | } else carefree_old--; |
650 | } else carefree_old--; |
| 650 | } |
651 | } |
| 651 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
652 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
| Line 676... | Line 677... | ||
| 676 | static long IntegralFehlerNick = 0; |
677 | static long IntegralFehlerNick = 0; |
| 677 | static long IntegralFehlerRoll = 0; |
678 | static long IntegralFehlerRoll = 0; |
| 678 | static unsigned int RcLostTimer; |
679 | static unsigned int RcLostTimer; |
| 679 | static unsigned char delay_neutral = 0; |
680 | static unsigned char delay_neutral = 0; |
| 680 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
681 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| 681 | static char NeueKompassRichtungMerken = 0; |
- | |
| 682 | static long ausgleichNick, ausgleichRoll; |
682 | static long ausgleichNick, ausgleichRoll; |
| 683 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
683 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 684 | unsigned char i; |
684 | unsigned char i; |
| 685 | Mittelwert(); |
685 | Mittelwert(); |
| 686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |