Rev 2404 | Rev 2408 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2404 | Rev 2407 | ||
|---|---|---|---|
| Line 613... | Line 613... | ||
| 613 | { |
613 | { |
| 614 | I2C_TransferActive = 0; // enable for the next time |
614 | I2C_TransferActive = 0; // enable for the next time |
| 615 | } |
615 | } |
| 616 | else |
616 | else |
| 617 | { |
617 | { |
| 618 | motor_write = 0; |
618 | // motor_write = 0; |
| 619 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
619 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
| 620 | } |
620 | } |
| 621 | } |
621 | } |
| Line 622... | Line 622... | ||
| 622 | 622 | ||
| Line 1017... | Line 1017... | ||
| 1017 | HoehenWert = 0; |
1017 | HoehenWert = 0; |
| 1018 | SummenHoehe = 0; |
1018 | SummenHoehe = 0; |
| 1019 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -100 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 100) && EE_Parameter.MotorSafetySwitch == 0) delay_einschalten = 0; |
1019 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -100 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 100) && EE_Parameter.MotorSafetySwitch == 0) delay_einschalten = 0; |
| 1020 | if(++delay_einschalten > 253) |
1020 | if(++delay_einschalten > 253) |
| 1021 | { |
1021 | { |
| 1022 | if((abs(MesswertGier) > 32 || abs(MesswertNick) > 20) || abs(MesswertRoll) > 20) CalibrationDone = 0; // dann ist der Gyro defekt, schlecht kalibriert oder der MK dreht sich |
1022 | if((abs(MesswertGier) > 32 || abs(MesswertNick) > 20) || abs(MesswertRoll) > 20) CalibrationDone = 0; // dann ist der Gyro defekt, schlecht kalibriert oder der MK dreht sich |
| 1023 | delay_einschalten = 0; |
1023 | delay_einschalten = 0; |
| 1024 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
1024 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
| 1025 | { |
1025 | { |
| 1026 | modell_fliegt = 1; |
1026 | modell_fliegt = 1; |
| 1027 | MotorenEin = 1; |
1027 | MotorenEin = 1; |
| Line 1251... | Line 1251... | ||
| 1251 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
1251 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
| 1252 | { |
1252 | { |
| 1253 | StickNick = -GPS_Nick; |
1253 | StickNick = -GPS_Nick; |
| 1254 | StickRoll = -GPS_Roll; |
1254 | StickRoll = -GPS_Roll; |
| 1255 | StickGas = StickGasHover; |
1255 | StickGas = StickGasHover; |
| - | 1256 | StickGier = 0; |
|
| 1256 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
1257 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
| 1257 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
1258 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
| 1258 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
1259 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
| 1259 | Parameter_HoehenSchalter = 200; // switch on |
1260 | Parameter_HoehenSchalter = 200; // switch on |
| 1260 | } |
1261 | } |
| Line 1625... | Line 1626... | ||
| 1625 | 1626 | ||
| 1626 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1627 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1627 | // Höhenregelung |
1628 | // Höhenregelung |
| 1628 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1629 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 1630 | GasMischanteil *= STICK_GAIN; |
|
| 1629 | GasMischanteil *= STICK_GAIN; |
1631 | if(BytegapSPI == 0) SPI_TransmitByte(); |
| 1630 | // if height control is activated |
1632 | // if height control is activated |
| 1631 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick) && !(VersionInfo.HardwareError[0] & 0x7F)) // Höhenregelung |
1633 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick) && !(VersionInfo.HardwareError[0] & 0x7F)) // Höhenregelung |
| 1632 | { |
1634 | { |
| 1633 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
1635 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
| Line 2108... | Line 2110... | ||
| 2108 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
2110 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
| 2109 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
2111 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 2110 | if(Capacity.MinOfMaxPWM < 40) SpeakHoTT = SPEAK_ERR_MOTOR; |
2112 | if(Capacity.MinOfMaxPWM < 40) SpeakHoTT = SPEAK_ERR_MOTOR; |
| 2111 | #endif |
2113 | #endif |
| 2112 | } |
2114 | } |
| - | 2115 | ||
| - | 2116 | if(BytegapSPI == 0) SPI_TransmitByte(); |
|
| 2113 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2117 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2114 | // + Mischer und PI-Regler |
2118 | // + Mischer und PI-Regler |
| 2115 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2119 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2116 | DebugOut.Analog[7] = GasMischanteil; |
2120 | DebugOut.Analog[7] = GasMischanteil; |
| 2117 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2121 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |