Rev 2349 | Rev 2367 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2349 | Rev 2366 | ||
|---|---|---|---|
| Line 380... | Line 380... | ||
| 380 | SenderOkay = 100; |
380 | SenderOkay = 100; |
| Line 381... | Line 381... | ||
| 381 | 381 | ||
| 382 | if(ServoActive) DDRD |=0x80; // enable J7 -> Servo signal |
382 | if(ServoActive) DDRD |=0x80; // enable J7 -> Servo signal |
| 383 | else |
383 | else |
| 384 | { |
384 | { |
| 385 | // if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) NickServoValue = ((128 + 60) * 4 * 16); // neutral position = upper 1/4// else |
385 | if((EE_Parameter.ServoCompInvert & SERVO_NICK_INV) && (EE_Parameter.ServoCompInvert & SERVO_RELATIVE)) NickServoValue = 12000;//((128 + 60) * 4 * 16); // neutral position = upper 1/4// else |
| 386 | NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
386 | else NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
| 387 | CalculateServoSignals = 1; |
387 | CalculateServoSignals = 1; |
| 388 | CalculateServo(); // nick |
388 | CalculateServo(); // nick |
| 389 | CalculateServo(); // roll |
389 | CalculateServo(); // roll |
| Line 400... | Line 400... | ||
| 400 | if(AdjustmentMode != 0 && ACC_AltitudeControl) if((NeutralAccZ < 682 - 25) || (NeutralAccZ > 682 + 25)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; sucess = 0;}; |
400 | if(AdjustmentMode != 0 && ACC_AltitudeControl) if((NeutralAccZ < 682 - 25) || (NeutralAccZ > 682 + 25)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; sucess = 0;}; |
| 401 | #else |
401 | #else |
| 402 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
402 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
| 403 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
403 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
| 404 | #endif |
404 | #endif |
| 405 | - | ||
| 406 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
405 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
| 407 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
406 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
| 408 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
407 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
| 409 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
408 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
| 410 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
409 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
| Line 1059... | Line 1058... | ||
| 1059 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
1058 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
| 1060 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1059 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 1061 | SpeakHoTT = SPEAK_MK_OFF; |
1060 | SpeakHoTT = SPEAK_MK_OFF; |
| 1062 | #endif |
1061 | #endif |
| 1063 | } |
1062 | } |
| - | 1063 | else |
|
| - | 1064 | if(delay_ausschalten == 100) beeptime = 3500; |
|
| 1064 | } |
1065 | } |
| 1065 | else delay_ausschalten = 0; |
1066 | else delay_ausschalten = 0; |
| 1066 | } |
1067 | } |
| 1067 | if(GasIsZeroCnt < 1000) GasIsZeroCnt++; |
1068 | if(GasIsZeroCnt < 1000) GasIsZeroCnt++; |
| 1068 | } |
1069 | } |