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| Rev 2601 | Rev 2606 | ||
|---|---|---|---|
| Line 361... | Line 361... | ||
| 361 | AdNeutralGier = (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
361 | AdNeutralGier = (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
| 362 | NeutralAccZ = (acc_z_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
362 | NeutralAccZ = (acc_z_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
| Line 363... | Line 363... | ||
| 363 | 363 | ||
| 364 | StartNeutralRoll = AdNeutralRoll; |
364 | StartNeutralRoll = AdNeutralRoll; |
| 365 | StartNeutralNick = AdNeutralNick; |
- | |
| - | 365 | StartNeutralNick = AdNeutralNick; |
|
| 366 | 366 | VersionInfo.HardwareError[1] &= ~FC_ERROR1_ACC_NOT_CAL; |
|
| 367 | if(AdjustmentMode == 2) |
367 | if(AdjustmentMode == 2) |
| 368 | { |
368 | { |
| 369 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
369 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
| 370 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
370 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| Line 380... | Line 380... | ||
| 380 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048)/* || ((unsigned int) NeutralAccZ > 1024)*/) |
380 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048)/* || ((unsigned int) NeutralAccZ > 1024)*/) |
| 381 | { |
381 | { |
| 382 | printf("\n\rACC not calibrated!\r\n"); |
382 | printf("\n\rACC not calibrated!\r\n"); |
| 383 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
383 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
| 384 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
384 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| - | 385 | VersionInfo.HardwareError[1] |= FC_ERROR1_ACC_NOT_CAL; |
|
| 385 | sucess = 0; |
386 | sucess = 0; |
| 386 | } |
387 | } |
| Line 387... | Line 388... | ||
| 387 | 388 | ||
| 388 | // restore from eeprom |
389 | // restore from eeprom |
| Line 1182... | Line 1183... | ||
| 1182 | 1183 | ||
| 1183 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
1184 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
| 1184 | { |
1185 | { |
| 1185 | modell_fliegt = 1; |
1186 | modell_fliegt = 1; |
| - | 1187 | MotorenEin = 1; |
|
| 1186 | MotorenEin = 1; |
1188 | FC_StatusFlags3 &= ~FC_STATUS3_MOTORS_STOPPED_BY_RC; |
| 1187 | sollGier = 0; |
1189 | sollGier = 0; |
| 1188 | Mess_Integral_Gier = 0; |
1190 | Mess_Integral_Gier = 0; |
| 1189 | Mess_Integral_Gier2 = 0; |
1191 | Mess_Integral_Gier2 = 0; |
| 1190 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
1192 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 1191 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
1193 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| 1192 | SummeNick = 0; |
1194 | SummeNick = 0; |
| 1193 | SummeRoll = 0; |
1195 | SummeRoll = 0; |
| 1194 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
1196 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| - | 1197 | NeueKompassRichtungMerken = 100; // 2 sekunden |
|
| - | 1198 | NC_CompassSetpoint = -1; |
|
| 1195 | NeueKompassRichtungMerken = 100; // 2 sekunden |
1199 | NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
| 1196 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1200 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 1197 | SpeakHoTT = SPEAK_STARTING; |
1201 | SpeakHoTT = SPEAK_STARTING; |
| 1198 | #endif |
1202 | #endif |
| 1199 | } |
1203 | } |
| Line 1228... | Line 1232... | ||
| 1228 | StickNick = 0; |
1232 | StickNick = 0; |
| 1229 | StickRoll = 0; |
1233 | StickRoll = 0; |
| 1230 | } |
1234 | } |
| 1231 | if(++delay_ausschalten > 250) // nicht sofort |
1235 | if(++delay_ausschalten > 250) // nicht sofort |
| 1232 | { |
1236 | { |
| - | 1237 | if(MotorenEin) FC_StatusFlags3 |= FC_STATUS3_MOTORS_STOPPED_BY_RC; // that informs the slave to disarm the Motors |
|
| 1233 | MotorenEin = 0; |
1238 | MotorenEin = 0; |
| 1234 | delay_ausschalten = 0; |
1239 | delay_ausschalten = 0; |
| 1235 | modell_fliegt = 0; |
1240 | modell_fliegt = 0; |
| 1236 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
1241 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
| 1237 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
1242 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |