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| Rev 2497 | Rev 2514 | ||
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| Line 845... | Line 845... | ||
| 845 | else Kompass_Timer = SetDelay(999); |
845 | else Kompass_Timer = SetDelay(999); |
| 846 | } |
846 | } |
| 847 | #endif |
847 | #endif |
| Line 848... | Line 848... | ||
| 848 | 848 | ||
| 849 | #ifdef REDUNDANT_FC_SLAVE |
849 | #ifdef REDUNDANT_FC_SLAVE |
| - | 850 | //if(UebertragungAbgeschlossen || MotorenEin) |
|
| 850 | if(UebertragungAbgeschlossen || MotorenEin) |
851 | if(UebertragungAbgeschlossen && (CheckDelay(Kompass_Timer) || MotorenEin)) |
| 851 | { |
852 | { |
| 852 | static unsigned char who, request; |
853 | static unsigned char who, request; |
| 853 | unsigned char SendRedundantMotor[MAX_MOTORS], i; |
854 | unsigned char SendRedundantMotor[MAX_MOTORS], i; |
| 854 | if(!request) { who = (who+1) % RequiredMotors; request = 1;} // nur in jedem 2. Zykus abfragen, weil die Antwort zu lang ist |
855 | if(!request) { who = (who+1) % RequiredMotors; request = 1;} // nur in jedem 2. Zykus abfragen, weil die Antwort zu lang ist |
| Line 859... | Line 860... | ||
| 859 | else SendRedundantMotor[0] = 0; |
860 | else SendRedundantMotor[0] = 0; |
| 860 | if(PC_MotortestActive) SendRedundantMotor[0] |= 0x80; |
861 | if(PC_MotortestActive) SendRedundantMotor[0] |= 0x80; |
| 861 | SendRedundantMotor[i+1] = Motor[i].SetPoint; |
862 | SendRedundantMotor[i+1] = Motor[i].SetPoint; |
| 862 | } |
863 | } |
| 863 | SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1); |
864 | SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1); |
| - | 865 | Kompass_Timer = SetDelay(25); |
|
| 864 | } |
866 | } |
| 865 | #endif |
867 | #endif |
| Line 866... | Line 868... | ||
| 866 | 868 | ||
| 867 | #ifdef DEBUG // only include functions if DEBUG is defined |
869 | #ifdef DEBUG // only include functions if DEBUG is defined |