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| Rev 1171 | Rev 1172 | ||
|---|---|---|---|
| Line 202... | Line 202... | ||
| 202 | Delay_ms_Mess(10); |
202 | Delay_ms_Mess(10); |
| 203 | gier_neutral += AdWertGier; |
203 | gier_neutral += AdWertGier; |
| 204 | nick_neutral += AdWertNick; |
204 | nick_neutral += AdWertNick; |
| 205 | roll_neutral += AdWertRoll; |
205 | roll_neutral += AdWertRoll; |
| 206 | } |
206 | } |
| 207 | AdNeutralNick= nick_neutral / NEUTRAL_FILTER; |
207 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / NEUTRAL_FILTER; |
| 208 | AdNeutralRoll= roll_neutral / NEUTRAL_FILTER; |
208 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / NEUTRAL_FILTER; |
| 209 | AdNeutralGier= gier_neutral / NEUTRAL_FILTER; |
209 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / NEUTRAL_FILTER; |
| 210 | AdNeutralGierBias = AdNeutralGier; |
210 | AdNeutralGierBias = AdNeutralGier; |
| 211 | StartNeutralRoll = AdNeutralRoll; |
211 | StartNeutralRoll = AdNeutralRoll; |
| 212 | StartNeutralNick = AdNeutralNick; |
212 | StartNeutralNick = AdNeutralNick; |
| 213 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
213 | if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| 214 | { |
214 | { |
| Line 247... | Line 247... | ||
| 247 | LED_Init(); |
247 | LED_Init(); |
| 248 | MikroKopterFlags |= FLAG_CALIBRATE; |
248 | MikroKopterFlags |= FLAG_CALIBRATE; |
| 249 | FromNaviCtrl_Value.Kalman_K = -1; |
249 | FromNaviCtrl_Value.Kalman_K = -1; |
| 250 | FromNaviCtrl_Value.Kalman_MaxDrift = EE_Parameter.Driftkomp * 16; |
250 | FromNaviCtrl_Value.Kalman_MaxDrift = EE_Parameter.Driftkomp * 16; |
| 251 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
251 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| 252 | if(Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110); |
252 | Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110; |
| 253 | if(Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110); |
253 | Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110; |
| 254 | if(Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110); |
254 | Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110; |
| 255 | if(Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110); |
255 | Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110; |
| 256 | ServoActive = 1; |
256 | ServoActive = 1; |
| 257 | SenderOkay = 100; |
257 | SenderOkay = 100; |
| 258 | } |
258 | } |
| Line 259... | Line 259... | ||
| 259 | 259 | ||
| Line 874... | Line 874... | ||
| 874 | LageKorrekturNick = 0; |
874 | LageKorrekturNick = 0; |
| 875 | LageKorrekturRoll = 0; |
875 | LageKorrekturRoll = 0; |
| 876 | } |
876 | } |
| Line 877... | Line 877... | ||
| 877 | 877 | ||
| 878 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
878 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 879 | if(!Looping_Nick && !Looping_Roll && Aktuell_az > 600) |
879 | if(!Looping_Nick && !Looping_Roll && Aktuell_az > 512) |
| 880 | { |
880 | { |
| 881 | long tmp_long, tmp_long2; |
881 | long tmp_long, tmp_long2; |
| 882 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
882 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
| 883 | { |
883 | { |
| Line 1200... | Line 1200... | ||
| 1200 | //DebugOut.Analog[18] = (int)FromNaviCtrl_Value.OsdBar; |
1200 | //DebugOut.Analog[18] = (int)FromNaviCtrl_Value.OsdBar; |
| 1201 | DebugOut.Analog[19] = WinkelOut.CalcState; |
1201 | DebugOut.Analog[19] = WinkelOut.CalcState; |
| 1202 | DebugOut.Analog[20] = ServoValue; |
1202 | DebugOut.Analog[20] = ServoValue; |
| 1203 | // DebugOut.Analog[24] = MesswertNick/2; |
1203 | // DebugOut.Analog[24] = MesswertNick/2; |
| 1204 | // DebugOut.Analog[25] = MesswertRoll/2; |
1204 | // DebugOut.Analog[25] = MesswertRoll/2; |
| 1205 | DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
1205 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
| - | 1206 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
|
| 1206 | DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
1207 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
| 1207 | DebugOut.Analog[30] = GPS_Nick; |
1208 | DebugOut.Analog[30] = GPS_Nick; |
| 1208 | DebugOut.Analog[31] = GPS_Roll; |
1209 | DebugOut.Analog[31] = GPS_Roll; |
| Line 1209... | Line 1210... | ||
| 1209 | 1210 | ||