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Line 155... Line 155...
155 
unsigned char Parameter_NaviWindCorrection;
 155 
unsigned char Parameter_NaviWindCorrection;
156 
unsigned char Parameter_NaviSpeedCompensation;
 156 
unsigned char Parameter_NaviSpeedCompensation;
157 
unsigned char Parameter_ExternalControl;
 157 
unsigned char Parameter_ExternalControl;
158 
unsigned char Parameter_GlobalConfig;
 158 
unsigned char Parameter_GlobalConfig;
159 
unsigned char Parameter_ExtraConfig;
 159 
unsigned char Parameter_ExtraConfig;
- 
 
 160 
unsigned char Parameter_MaximumAltitude = 40;
160 
unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
 161 
unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
161 
unsigned char CareFree = 0;
 162 
unsigned char CareFree = 0;
162 
const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps
 163 
const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps
Line 163... Line 164...
163 
 
 164 
 
Line 608... Line 609...
608 
 CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl);
 609 
 CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl);
609 
 CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit);
 610 
 CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit);
610 
 CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1);
 611 
 CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1);
611 
 CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2);
 612 
 CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2);
612 
 CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection);
 613 
 CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection);
- 
 
 614 
 CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude);
613 
 Parameter_GlobalConfig = EE_Parameter.GlobalConfig;
 615 
 Parameter_GlobalConfig = EE_Parameter.GlobalConfig;
614 
 Parameter_ExtraConfig = EE_Parameter.ExtraConfig;
 616 
 Parameter_ExtraConfig = EE_Parameter.ExtraConfig;
615 
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
 617 
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
616 
 CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
 618 
 CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
617 
 CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
 619 
 CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
Line 646... Line 648...
646 
         beeptime = 15000;
 648 
         beeptime = 15000;
647 
         BeepMuster = 0xA400;
 649 
         BeepMuster = 0xA400;
648 
         CareFree = 0;
 650 
         CareFree = 0;
649 
    }
 651 
    }
650 
 if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE;
 652 
 if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE;
- 
 
 653 
// Limit the maximum Altitude
- 
 
 654 
 if(Parameter_MaximumAltitude) if(SollHoehe/100 > Parameter_MaximumAltitude) SollHoehe = (long) Parameter_MaximumAltitude * 100L;
651 
}
 655 
}
Line 652... Line 656...
652 
 
 656 
 
653 
//############################################################################
 657 
//############################################################################
654 
//
 658 
//
Line 1022... Line 1026...
1022 
 
 1026 
 
1023 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1027 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1024 
  if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
 1028 
  if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
1025 
  {
 1029 
  {
- 
 
 1030 
   long tmp_long, tmp_long2;
- 
 
 1031 
 
- 
 
 1032 
//if(Poti3 < 120) FromNaviCtrl_Value.Kalman_K = Poti3/2;
- 
 
 1033 
//DebugOut.Analog[25] = FromNaviCtrl_Value.Kalman_K;
- 
 
 1034 
//DebugOut.Analog[26] = FromNaviCtrl_Value.Kalman_MaxFusion;
- 
 
 1035 
//DebugOut.Analog[16] = (Mittelwert_AccNick-FromNaviCtrl.AccErrorN) / 4;
- 
 
 1036 
//DebugOut.Analog[18] = (Mittelwert_AccRoll-FromNaviCtrl.AccErrorR) / 4;
- 
 
 1037 
//DebugOut.Analog[19] = -FromNaviCtrl.AccErrorR / 4;
1026 
   long tmp_long, tmp_long2;
 1038 
 
1027 
   if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/)
 1039 
   if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/)
1028 
     {
 1040 
     {
1029 
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
 1041 
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN));
1030 
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
 1042 
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR));
1031 
      tmp_long  = (tmp_long  * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
 1043 
      tmp_long  = (tmp_long  * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
1032 
      tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
 1044 
      tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
1033 
          KompassFusion = FromNaviCtrl_Value.Kalman_K;
 1045 
          KompassFusion = FromNaviCtrl_Value.Kalman_K;
1034 
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
 1046 
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
Line 1269... Line 1281...
1269 
        GierGyroFehler += fehler;
 1281 
        GierGyroFehler += fehler;
1270 
        if(NeueKompassRichtungMerken)
 1282 
        if(NeueKompassRichtungMerken)
1271 
         {
 1283 
         {
1272 
          if(--NeueKompassRichtungMerken == 0)
 1284 
          if(--NeueKompassRichtungMerken == 0)
1273 
                   {
 1285 
                   {
1274 
                    ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
 1286 
//-->       ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
1275 
            KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR);
 1287 
            KompassSollWert = (ErsatzKompass/GIER_GRAD_FAKTOR);
1276 
                   }   
 1288 
                   }   
1277 
         }
 1289 
         }
1278 
        }
 1290 
        }
1279 
       // Kompass fusionieren
 1291 
       // Kompass fusionieren