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| Rev 2191 | Rev 2230 | ||
|---|---|---|---|
| Line 173... | Line 173... | ||
| 173 | long GIER_GRAD_FAKTOR = 1291; |
173 | long GIER_GRAD_FAKTOR = 1291; |
| 174 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
174 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| 175 | signed int tmp_motorwert[MAX_MOTORS]; |
175 | signed int tmp_motorwert[MAX_MOTORS]; |
| 176 | char VarioCharacter = ' '; |
176 | char VarioCharacter = ' '; |
| 177 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
177 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
| 178 | - | ||
| - | 178 | unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
|
| Line 179... | Line 179... | ||
| 179 | 179 | ||
| 180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
180 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 181 | // Debugwerte zuordnen |
181 | // Debugwerte zuordnen |
| 182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
182 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 688... | Line 688... | ||
| 688 | unsigned char i; |
688 | unsigned char i; |
| 689 | Mittelwert(); |
689 | Mittelwert(); |
| 690 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
690 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 691 | // Gaswert ermitteln |
691 | // Gaswert ermitteln |
| 692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
692 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 693 | if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
|
| - | 694 | { |
|
| 693 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
695 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
| 694 | { |
696 | { |
| 695 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
697 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
| 696 | { |
698 | { |
| 697 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
699 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
| 698 | } |
700 | } |
| 699 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
701 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
| 700 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
702 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
| - | 703 | } |
|
| - | 704 | if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
|
| - | 705 | { |
|
| - | 706 | StickGas = 0; // Hold Gas down in that case |
|
| - | 707 | HooverGasEmergencyPercent = MIN_GAS; |
|
| 701 | 708 | } |
|
| 702 | GasMischanteil = StickGas; |
709 | GasMischanteil = StickGas; |
| 703 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
710 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| 704 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
711 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 705 | // Empfang schlecht |
712 | // Empfang schlecht |
| 706 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
713 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 882... | Line 889... | ||
| 882 | #endif |
889 | #endif |
| 883 | } |
890 | } |
| 884 | } |
891 | } |
| 885 | else delay_ausschalten = 0; |
892 | else delay_ausschalten = 0; |
| 886 | } |
893 | } |
| 887 | } |
894 | if(GasIsZeroCnt < 1000) GasIsZeroCnt++; |
| - | 895 | } |
|
| 888 | else // gas not at minimum |
896 | else // gas not at minimum |
| - | 897 | { |
|
| 889 | move_safety_switch = 0; |
898 | move_safety_switch = 0; |
| - | 899 | GasIsZeroCnt = 0; |
|
| - | 900 | } |
|
| 890 | } |
901 | } |
| - | 902 | else // Empfang zwischen 100 und 140 -> schlecht |
|
| - | 903 | { |
|
| - | 904 | if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
|
| - | 905 | { |
|
| - | 906 | if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
|
| - | 907 | { |
|
| - | 908 | GasIsZeroCnt = 30000; |
|
| - | 909 | if(modell_fliegt > 1001) modell_fliegt = 1001; |
|
| - | 910 | } |
|
| - | 911 | } |
|
| - | 912 | } |
|
| 891 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
913 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 892 | // neue Werte von der Funke |
914 | // neue Werte von der Funke |
| 893 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
915 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 894... | Line 916... | ||
| 894 | 916 | ||
| Line 1018... | Line 1040... | ||
| 1018 | 1040 | ||
| 1019 | 1041 | ||
| 1020 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1042 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 1043 | // Bei Empfangsausfall im Flug |
|
| - | 1044 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 1045 | DebugOut.Analog[16] = GasIsZeroCnt; |
|
| 1021 | // Bei Empfangsausfall im Flug |
1046 | DebugOut.Analog[17] = VarioMeter; |
| 1022 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1047 | |
| 1023 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
1048 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
| 1024 | { |
1049 | { |
| 1025 | StickNick = -GPS_Nick; |
1050 | StickNick = -GPS_Nick; |
| 1026 | StickRoll = -GPS_Roll; |
1051 | StickRoll = -GPS_Roll; |
| 1027 | StickGas = StickGasHover; |
1052 | StickGas = StickGasHover; |
| 1028 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
1053 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
| 1029 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
1054 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
| 1030 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
1055 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
| Line 1042... | Line 1067... | ||
| 1042 | IntegralFaktorGier = 120; |
1067 | IntegralFaktorGier = 120; |
| 1043 | Looping_Roll = 0; |
1068 | Looping_Roll = 0; |
| 1044 | Looping_Nick = 0; |
1069 | Looping_Nick = 0; |
| 1045 | } |
1070 | } |
| Line 1046... | Line -... | ||
| 1046 | - | ||
| 1047 | 1071 | ||
| 1048 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1072 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1049 | // Integrale auf ACC-Signal abgleichen |
1073 | // Integrale auf ACC-Signal abgleichen |
| 1050 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1074 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |