WebSVN - FlightCtrl - Diff - Rev 1225 and 1232 - /branches/V0.88e_ACC-HH_HR



unsigned char Parameter_UserParam5 = 0;
unsigned char Parameter_UserParam6 = 0;
unsigned char Parameter_UserParam7 = 0;
unsigned char Parameter_UserParam8 = 0;
unsigned char Parameter_ServoNickControl = 100;
unsigned char Parameter_ServoRollControl = 100;
unsigned char Parameter_LoopGasLimit = 70;
unsigned char Parameter_AchsKopplung1 = 90;
unsigned char Parameter_AchsKopplung2 = 65;
unsigned char Parameter_CouplingYawCorrection = 64;
//unsigned char Parameter_AchsGegenKopplung1 = 0;

 else   motor = neu - (alt - neu)*1;
//if(Poti2 < 20)  return(neu);
 return(motor);
}

 
 
void Piep(unsigned char Anzahl, unsigned int dauer)
{
 if(MotorenEin) return; //auf keinen Fall im Flug!
 while(Anzahl--)
 {
  beeptime = dauer;
  while(beeptime);
  Delay_ms(dauer * 2);
 }

}
 

    FromNaviCtrl_Value.Kalman_MaxFusion = 32;
    Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110;
    Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110;
    Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110;
    Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110;
//    ServoActive = 1;
    SenderOkay = 100;
}

 
//############################################################################

 CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255);
 CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255);
 CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255);
 CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255);
 CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
 CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl,0,255);
 CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255);
 CHK_POTI(Parameter_AchsKopplung1,    EE_Parameter.AchsKopplung1,0,255);
 CHK_POTI(Parameter_AchsKopplung2,    EE_Parameter.AchsKopplung2,0,255);
 CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255);
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);

                           if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
                            {
                             if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
                            }
                           SetNeutral();
                                                   ServoActive = 1;
                                                   DDRD  |=0x80; // enable J7 -> Servo signal
                           Piep(GetActiveParamSetNumber(),120);
                         }
                        }
                    }
                 else
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)  // ACC Neutralwerte speichern

                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256);
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256);
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256);
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256);
                        Piep(GetActiveParamSetNumber(),120);
                        }
                    }
                 else delay_neutral = 0;
                }
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

Rev 1225	Rev 1232
Line 118...	Line 118...
118	unsigned char Parameter_UserParam5 = 0;	118	unsigned char Parameter_UserParam5 = 0;
119	unsigned char Parameter_UserParam6 = 0;	119	unsigned char Parameter_UserParam6 = 0;
120	unsigned char Parameter_UserParam7 = 0;	120	unsigned char Parameter_UserParam7 = 0;
121	unsigned char Parameter_UserParam8 = 0;	121	unsigned char Parameter_UserParam8 = 0;
122	unsigned char Parameter_ServoNickControl = 100;	122	unsigned char Parameter_ServoNickControl = 100;
-		123	unsigned char Parameter_ServoRollControl = 100;
123	unsigned char Parameter_LoopGasLimit = 70;	124	unsigned char Parameter_LoopGasLimit = 70;
124	unsigned char Parameter_AchsKopplung1 = 90;	125	unsigned char Parameter_AchsKopplung1 = 90;
125	unsigned char Parameter_AchsKopplung2 = 65;	126	unsigned char Parameter_AchsKopplung2 = 65;
126	unsigned char Parameter_CouplingYawCorrection = 64;	127	unsigned char Parameter_CouplingYawCorrection = 64;
127	//unsigned char Parameter_AchsGegenKopplung1 = 0;	128	//unsigned char Parameter_AchsGegenKopplung1 = 0;
Line 158...	Line 159...
158	else motor = neu - (alt - neu)*1;	159	else motor = neu - (alt - neu)*1;
159	//if(Poti2 < 20) return(neu);	160	//if(Poti2 < 20) return(neu);
160	return(motor);	161	return(motor);
161	}	162	}
Line 162...	Line -...
162		-
163		163
164	void Piep(unsigned char Anzahl)	164	void Piep(unsigned char Anzahl, unsigned int dauer)
-		165	{
165	{	166	if(MotorenEin) return; //auf keinen Fall im Flug!
166	while(Anzahl--)	167	while(Anzahl--)
167	{	168	{
168	if(MotorenEin) return; //auf keinen Fall im Flug!	169	beeptime = dauer;
169	beeptime = 100;	170	while(beeptime);
170	Delay_ms(250);	171	Delay_ms(dauer * 2);
171	}	172	}
Line 172...	Line 173...
172	}	173	}
173		174
Line 253...	Line 254...
253	FromNaviCtrl_Value.Kalman_MaxFusion = 32;	254	FromNaviCtrl_Value.Kalman_MaxFusion = 32;
254	Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110;	255	Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110;
255	Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110;	256	Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110;
256	Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110;	257	Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110;
257	Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110;	258	Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110;
258	ServoActive = 1;	259	// ServoActive = 1;
259	SenderOkay = 100;	260	SenderOkay = 100;
260	}	261	}
Line 261...	Line 262...
261		262
262	//############################################################################	263	//############################################################################
Line 507...	Line 508...
507	CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255);	508	CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255);
508	CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255);	509	CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255);
509	CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255);	510	CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255);
510	CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255);	511	CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255);
511	CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);	512	CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
-		513	CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl,0,255);
512	CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255);	514	CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255);
513	CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255);	515	CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255);
514	CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2,0,255);	516	CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2,0,255);
515	CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255);	517	CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255);
516	// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);	518	// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
Line 645...	Line 647...
645	if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?	647	if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?
646	{	648	{
647	if((MessLuftdruck > 950) \|\| (MessLuftdruck < 750)) SucheLuftruckOffset();	649	if((MessLuftdruck > 950) \|\| (MessLuftdruck < 750)) SucheLuftruckOffset();
648	}	650	}
649	SetNeutral();	651	SetNeutral();
-		652	ServoActive = 1;
-		653	DDRD \|=0x80; // enable J7 -> Servo signal
650	Piep(GetActiveParamSetNumber());	654	Piep(GetActiveParamSetNumber(),120);
651	}	655	}
652	}	656	}
653	}	657	}
654	else	658	else
655	if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern	659	if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern
Line 666...	Line 670...
666	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern	670	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern
667	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256);	671	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256);
668	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256);	672	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256);
669	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256);	673	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256);
670	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256);	674	eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256);
671	Piep(GetActiveParamSetNumber());	675	Piep(GetActiveParamSetNumber(),120);
672	}	676	}
673	}	677	}
674	else delay_neutral = 0;	678	else delay_neutral = 0;
675	}	679	}
676	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	680	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

Subversion Repositories FlightCtrl

(root)/branches/V0.88e_ACC-HH_HR_MartinR/fc.c @ 2161 - Rev 1225 → 1232