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| Rev 2676 | Rev 2679 | ||
|---|---|---|---|
| Line 63... | Line 63... | ||
| 63 | unsigned char ActiveParamSet = 3; |
63 | unsigned char ActiveParamSet = 3; |
| 64 | unsigned char LipoCells = 4; |
64 | unsigned char LipoCells = 4; |
| 65 | unsigned char IamMaster = 0; |
65 | unsigned char IamMaster = 0; |
| 66 | unsigned char Delete_Stoppflag_Timer = 0; |
66 | unsigned char Delete_Stoppflag_Timer = 0; |
| 67 | unsigned char OEM_String[17] = "Booting... \0\0\0\0\0"; |
67 | unsigned char OEM_String[17] = "Booting... \0\0\0\0\0"; |
| 68 | - | ||
| - | 68 | unsigned char TouchDownTimer = 0; |
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| Line 69... | Line 69... | ||
| 69 | 69 | ||
| 70 | void PrintLine(void) |
70 | void PrintLine(void) |
| 71 | { |
71 | { |
| 72 | printf("\r\n==================================="); |
72 | printf("\r\n==================================="); |
| Line 710... | Line 710... | ||
| 710 | 710 | ||
| 711 | // +++++++++++++++++++++++++++++++++ |
711 | // +++++++++++++++++++++++++++++++++ |
| 712 | // Sekundentakt |
712 | // Sekundentakt |
| 713 | if(++second == 49) |
713 | if(++second == 49) |
| - | 714 | { |
|
| - | 715 | static long altitudeOld = 0; |
|
| - | 716 | static char threeseconds = 3; |
|
| 714 | { |
717 | |
| 715 | second = 0; |
718 | second = 0; |
| 716 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
719 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 717 | if(ShowSettingNameTime) ShowSettingNameTime--; |
720 | if(ShowSettingNameTime) ShowSettingNameTime--; |
| 718 | if(Show_Load_Time) Show_Load_Time--; |
721 | if(Show_Load_Time) Show_Load_Time--; |
| 719 | if(Show_Store_Time) Show_Store_Time--; |
722 | if(Show_Store_Time) Show_Store_Time--; |
| 720 | if(ShowCmpsCalibrateTime) ShowCmpsCalibrateTime--; |
723 | if(ShowCmpsCalibrateTime) ShowCmpsCalibrateTime--; |
| 721 | if(Delete_Stoppflag_Timer) Delete_Stoppflag_Timer--; else FC_StatusFlags3 &= ~FC_STATUS3_MOTORS_STOPPED_BY_RC; |
724 | if(Delete_Stoppflag_Timer) Delete_Stoppflag_Timer--; else FC_StatusFlags3 &= ~FC_STATUS3_MOTORS_STOPPED_BY_RC; |
| - | 725 | #endif |
|
| - | 726 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 727 | // + for auto switch - off |
|
| - | 728 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 729 | if(--threeseconds == 0) |
|
| - | 730 | { |
|
| - | 731 | int AltitudeDeviationPer3Seconds = 0; |
|
| - | 732 | threeseconds = 3; |
|
| - | 733 | AltitudeDeviationPer3Seconds = HoehenWert - altitudeOld; |
|
| - | 734 | altitudeOld = HoehenWert; |
|
| - | 735 | if(abs(AltitudeDeviationPer3Seconds) > 90) TouchDownTimer = 0; |
|
| - | 736 | if(!MotorenEin) TouchDownTimer = 0; |
|
| - | 737 | } |
|
| - | 738 | if(ACC_AltitudeControl && HoehenReglerAktiv && (SollHoehe < (HoehenWert-1100)) && !(VersionInfo.HardwareError[0] & FC_ERROR0_PRESSURE)) // 11m unter Sollwert |
|
| - | 739 | { |
|
| - | 740 | if(TouchDownTimer < 255) TouchDownTimer++; |
|
| - | 741 | } |
|
| - | 742 | else TouchDownTimer = 0; |
|
| - | 743 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| - | 744 | if( (NC_To_FC_Flags & NC_TO_FC_SWITCHOFF_IF_LANDED) || // for auto landing waypoints points |
|
| - | 745 | (NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) || // for RC failsafe |
|
| - | 746 | (LowVoltageLandingActive) || // undervoltage |
|
| - | 747 | (FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) // Auto landing by switch |
|
| - | 748 | ) |
|
| - | 749 | { |
|
| - | 750 | if(TouchDownTimer == 6) SpeakHoTT = SPEAK_SINKING; |
|
| - | 751 | else |
|
| - | 752 | if(TouchDownTimer == 9) |
|
| - | 753 | { |
|
| - | 754 | SpeakHoTT = SPEAK_LANDING; |
|
| - | 755 | } |
|
| - | 756 | else |
|
| - | 757 | if(TouchDownTimer == 16) |
|
| - | 758 | { |
|
| - | 759 | FC_StatusFlags3 |= FC_STATUS3_MOTORS_STOPPED_BY_RC; // that informs the slave to disarm the Motors |
|
| - | 760 | Delete_Stoppflag_Timer = 2; // 1-2 seconds |
|
| - | 761 | MotorenEin = 0; |
|
| - | 762 | modell_fliegt = 0; |
|
| - | 763 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
|
| - | 764 | SpeakHoTT = SPEAK_MK_OFF; |
|
| - | 765 | } |
|
| - | 766 | } |
|
| - | 767 | else TouchDownTimer = 0; |
|
| - | 768 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
|
| 722 | #endif |
769 | |
| 723 | if(SerialChannelDataOkay) if(--SerialChannelDataOkay == 0) InitSerialPoti(); |
770 | if(SerialChannelDataOkay) if(--SerialChannelDataOkay == 0) InitSerialPoti(); |
| 724 | if(NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) ServoFailsafeActive = SERVO_FS_TIME; |
771 | if(NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) ServoFailsafeActive = SERVO_FS_TIME; |
| 725 | else |
772 | else |