Rev 2677 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 2677 | Rev 2680 | ||
|---|---|---|---|
| Line 1491... | Line 1491... | ||
| 1491 | GyroFaktorGier = 90; |
1491 | GyroFaktorGier = 90; |
| 1492 | IntegralFaktorGier = 120; |
1492 | IntegralFaktorGier = 120; |
| 1493 | Looping_Roll = 0; |
1493 | Looping_Roll = 0; |
| 1494 | Looping_Nick = 0; |
1494 | Looping_Nick = 0; |
| 1495 | } |
1495 | } |
| 1496 | - | ||
| 1497 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1496 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1498 | // Integrale auf ACC-Signal abgleichen |
1497 | // Integrale auf ACC-Signal abgleichen |
| 1499 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1498 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1500 | #define ABGLEICH_ANZAHL 256L |
1499 | #define ABGLEICH_ANZAHL 256L |
| Line 1738... | Line 1737... | ||
| 1738 | FromNC_AltitudeSetpoint = -20000; |
1737 | FromNC_AltitudeSetpoint = -20000; |
| 1739 | } |
1738 | } |
| 1740 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1739 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1741 | // send SPI pending bytes |
1740 | // send SPI pending bytes |
| 1742 | if(BytegapSPI == 0) SPI_TransmitByte(); |
1741 | if(BytegapSPI == 0) SPI_TransmitByte(); |
| - | 1742 | ||
| 1743 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1743 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1744 | // Höhenregelung |
1744 | // Höhenregelung |
| 1745 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1745 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1746 | GasMischanteil *= STICK_GAIN; |
1746 | GasMischanteil *= STICK_GAIN; |
| 1747 | // if height control is activated |
1747 | // if height control is activated |
| Line 1983... | Line 1983... | ||
| 1983 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
1983 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
| 1984 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
1984 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
| 1985 | } |
1985 | } |
| 1986 | HeightTrimming = 0; |
1986 | HeightTrimming = 0; |
| 1987 | LIMIT_MIN_MAX(HoehenWertF, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
1987 | LIMIT_MIN_MAX(HoehenWertF, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| 1988 | LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-1024), (HoehenWertF+1500)); // max. 15m Unterschied |
1988 | LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-1500), (HoehenWertF+1500)); // max. 15m Unterschied |
| 1989 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
1989 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
| 1990 | //update hoover gas stick value when setpoint is shifted |
1990 | //update hoover gas stick value when setpoint is shifted |
| 1991 | if(FromNC_AltitudeSpeed == 0) CalcStickGasHover(); |
1991 | if(FromNC_AltitudeSpeed == 0) CalcStickGasHover(); |
| 1992 | /* |
1992 | /* |
| 1993 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
1993 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
| Line 2237... | Line 2237... | ||
| 2237 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
2237 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
| 2238 | beeptime = 15000; |
2238 | beeptime = 15000; |
| 2239 | BeepMuster = 0x0E00; |
2239 | BeepMuster = 0x0E00; |
| 2240 | } |
2240 | } |
| 2241 | // limit gas to parameter setting |
2241 | // limit gas to parameter setting |
| - | 2242 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 2243 | if(TouchDownTimer > 9) GasMischanteil = 1; // gas runter |
|
| - | 2244 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 2242 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
2245 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| 2243 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
2246 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| 2244 | - | ||
| 2245 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2247 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2246 | // all BL-Ctrl connected? |
2248 | // all BL-Ctrl connected? |
| 2247 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2249 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 2248... | Line 2250... | ||
| 2248 | 2250 | ||