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| Rev 2407 | Rev 2408 | ||
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| Line 181... | Line 181... | ||
| 181 | unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
181 | unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
| 182 | signed int Variance = 0; |
182 | signed int Variance = 0; |
| 183 | signed int CosAttitude; // for projection of hoover gas |
183 | signed int CosAttitude; // for projection of hoover gas |
| 184 | unsigned char ACC_AltitudeControl = 0; |
184 | unsigned char ACC_AltitudeControl = 0; |
| 185 | unsigned char LowVoltageLandingActive = 0; |
185 | unsigned char LowVoltageLandingActive = 0; |
| - | 186 | unsigned char LowVoltageHomeActive = 0; |
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| Line 186... | Line 187... | ||
| 186 | 187 | ||
| 187 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
188 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 188 | #define OPA_OFFSET_STEP 5 |
189 | #define OPA_OFFSET_STEP 5 |
| 189 | #else |
190 | #else |
| Line 1606... | Line 1607... | ||
| 1606 | static unsigned int u_filter = 0; |
1607 | static unsigned int u_filter = 0; |
| 1607 | if(!u_filter) u_filter = UBat; |
1608 | if(!u_filter) u_filter = UBat; |
| 1608 | if(UBat > u_filter) u_filter++; else |
1609 | if(UBat > u_filter) u_filter++; else |
| 1609 | if(UBat < u_filter) u_filter--; |
1610 | if(UBat < u_filter) u_filter--; |
| 1610 | slower = 100; // 5Hz |
1611 | slower = 100; // 5Hz |
| 1611 | // if(FromNC_AltitudeSetpoint >= 0) hysteresis *= 2; |
- | |
| 1612 | if(u_filter < EE_Parameter.AutoLandingVoltage) |
1612 | if(u_filter < EE_Parameter.AutoLandingVoltage) |
| 1613 | { |
1613 | { |
| 1614 | LowVoltageLandingActive = 10; // 2 sek |
1614 | LowVoltageLandingActive = 10; // 2 sek |
| 1615 | } |
1615 | } |
| 1616 | else if(u_filter > EE_Parameter.AutoLandingVoltage + LipoCells && LowVoltageLandingActive) LowVoltageLandingActive--; |
1616 | else if(u_filter > EE_Parameter.AutoLandingVoltage + LipoCells && LowVoltageLandingActive) LowVoltageLandingActive--; |
| - | 1617 | ||
| - | 1618 | if(u_filter < EE_Parameter.ComingHomeVoltage) |
|
| - | 1619 | { |
|
| - | 1620 | LowVoltageHomeActive = 25; // min. 5 sek |
|
| - | 1621 | } |
|
| - | 1622 | else if(u_filter > EE_Parameter.ComingHomeVoltage + LipoCells && LowVoltageHomeActive) LowVoltageHomeActive--; |
|
| 1617 | } |
1623 | } |
| 1618 | if(LowVoltageLandingActive && FromNC_AltitudeSetpoint >= 0) |
1624 | if(LowVoltageLandingActive && FromNC_AltitudeSetpoint >= 0) |
| 1619 | { |
1625 | { |
| 1620 | FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
1626 | FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
| 1621 | FromNC_AltitudeSetpoint = -20000; |
1627 | FromNC_AltitudeSetpoint = -20000; |