WebSVN - FlightCtrl - Diff - Rev 2416 and 2418



                  }
          if(PC_MotortestActive) PC_MotortestActive--;
        }
        else FC_StatusFlags |= FC_STATUS_MOTOR_RUN;

 
// ++++++++++++++++++++++++++++++++++++++++++
 
// ++++++++++++++++++++++++++++++++++++++++++
#ifdef REDUNDANT_FC
        I2CTimeout = 100;
        return;
#else 
/*
if(Parameter_UserParam7 < 100 && RedundanceBlOperation)
 {
        I2CTimeout = 100;
   if((BeepMuster == 0xffff))
                   {
                    beeptime = 25000;
                    BeepMuster = 0x0080;
                   }
        return;
 }
*/
#endif
 
    if(I2C_TransferActive)
         {
          I2C_TransferActive = 0; // enable for the next time
         }

  if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;

 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// all BL-Ctrl connected?
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  if(MissingMotor || Capacity.MinOfMaxPWM < 254 || NC_ErrorCode)      // wait until all BL-Ctrls started and no Errors
  if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0)    // only during start-phase
   {
    modell_fliegt = 1;
        GasMischanteil = (MIN_GAS + 10) * STICK_GAIN;

                        else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
            // Gier
                        if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil;
                        else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil;
                        else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
#ifdef REDUNDANT_FC
                        tmp_int = (tmp_motorwert[i] + tmp_int) / 2;    
#else
                        if(Motor[i].Version & MOTOR_STATE_FAST_MODE || tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2;      // Beschleunigen
            else
                         {  // BL-Ctrl 1.0 or 2.0 
                            if(EE_Parameter.MotorSmooth == 0)
                                {

                                {
                                  // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value.
                                  tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int) / EE_Parameter.MotorSmooth);
                                }
                        }
#endif
                        LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4);
                        Motor[i].SetPoint = tmp_int / 4;
                        Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total)
            tmp_motorwert[i] = tmp_int;
                }

                {
                        Motor[i].SetPoint = 0;
                        Motor[i].SetPointLowerBits = 0;
                }
        }
//if(Parameter_UserParam6 > 200) Motor[0].SetPoint = 0;
}
//DebugOut.Analog[16]

Rev 2416	Rev 2418
Line 608...	Line 608...
608	}	608	}
609	if(PC_MotortestActive) PC_MotortestActive--;	609	if(PC_MotortestActive) PC_MotortestActive--;
610	}	610	}
611	else FC_StatusFlags \|= FC_STATUS_MOTOR_RUN;	611	else FC_StatusFlags \|= FC_STATUS_MOTOR_RUN;
Line -...	Line 612...
-		612
-		613	// ++++++++++++++++++++++++++++++++++++++++++
-		614
-		615	// ++++++++++++++++++++++++++++++++++++++++++
-		616	#ifdef REDUNDANT_FC
-		617	I2CTimeout = 100;
-		618	return;
-		619	#else
-		620	/*
-		621	if(Parameter_UserParam7 < 100 && RedundanceBlOperation)
-		622	{
-		623	I2CTimeout = 100;
-		624	if((BeepMuster == 0xffff))
-		625	{
-		626	beeptime = 25000;
-		627	BeepMuster = 0x0080;
-		628	}
-		629	return;
-		630	}
-		631	*/
-		632	#endif
612		633
613	if(I2C_TransferActive)	634	if(I2C_TransferActive)
614	{	635	{
615	I2C_TransferActive = 0; // enable for the next time	636	I2C_TransferActive = 0; // enable for the next time
616	}	637	}
Line 2107...	Line 2128...
2107	if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;	2128	if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
Line 2108...	Line 2129...
2108		2129
2109	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	2130	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2110	// all BL-Ctrl connected?	2131	// all BL-Ctrl connected?
2111	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	2132	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2112	if(MissingMotor \|\| Capacity.MinOfMaxPWM != 255 \|\| NC_ErrorCode) // wait until all BL-Ctrls started and no Errors	2133	if(MissingMotor \|\| Capacity.MinOfMaxPWM < 254 \|\| NC_ErrorCode) // wait until all BL-Ctrls started and no Errors
2113	if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase	2134	if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase
2114	{	2135	{
2115	modell_fliegt = 1;	2136	modell_fliegt = 1;
2116	GasMischanteil = (MIN_GAS + 10) * STICK_GAIN;	2137	GasMischanteil = (MIN_GAS + 10) * STICK_GAIN;
Line 2199...	Line 2220...
2199	else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;	2220	else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
2200	// Gier	2221	// Gier
2201	if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil;	2222	if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil;
2202	else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil;	2223	else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil;
2203	else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;	2224	else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
-		2225	#ifdef REDUNDANT_FC
-		2226	tmp_int = (tmp_motorwert[i] + tmp_int) / 2;
2204		2227	#else
2205	if(Motor[i].Version & MOTOR_STATE_FAST_MODE \|\| tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // Beschleunigen	2228	if(Motor[i].Version & MOTOR_STATE_FAST_MODE \|\| tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // Beschleunigen
2206	else	2229	else
2207	{ // BL-Ctrl 1.0 or 2.0	2230	{ // BL-Ctrl 1.0 or 2.0
2208	if(EE_Parameter.MotorSmooth == 0)	2231	if(EE_Parameter.MotorSmooth == 0)
2209	{	2232	{
Line 2214...	Line 2237...
2214	{	2237	{
2215	// If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value.	2238	// If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value.
2216	tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int) / EE_Parameter.MotorSmooth);	2239	tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int) / EE_Parameter.MotorSmooth);
2217	}	2240	}
2218	}	2241	}
-		2242	#endif
2219	LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4);	2243	LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4);
2220	Motor[i].SetPoint = tmp_int / 4;	2244	Motor[i].SetPoint = tmp_int / 4;
2221	Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total)	2245	Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total)
2222	tmp_motorwert[i] = tmp_int;	2246	tmp_motorwert[i] = tmp_int;
2223	}	2247	}
Line 2225...	Line 2249...
2225	{	2249	{
2226	Motor[i].SetPoint = 0;	2250	Motor[i].SetPoint = 0;
2227	Motor[i].SetPointLowerBits = 0;	2251	Motor[i].SetPointLowerBits = 0;
2228	}	2252	}
2229	}	2253	}
-		2254	//if(Parameter_UserParam6 > 200) Motor[0].SetPoint = 0;
2230	}	2255	}
2231	//DebugOut.Analog[16]	2256	//DebugOut.Analog[16]

Subversion Repositories FlightCtrl

(root)/tags/V2.06a/fc.c @ 2753 - Rev 2416 → 2418