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| Rev 1246 | Rev 1253 | ||
|---|---|---|---|
| Line 235... | Line 235... | ||
| 235 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
235 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| 236 | Mess_IntegralNick2 = IntegralNick; |
236 | Mess_IntegralNick2 = IntegralNick; |
| 237 | Mess_IntegralRoll2 = IntegralRoll; |
237 | Mess_IntegralRoll2 = IntegralRoll; |
| 238 | Mess_Integral_Gier = 0; |
238 | Mess_Integral_Gier = 0; |
| 239 | StartLuftdruck = Luftdruck; |
239 | StartLuftdruck = Luftdruck; |
| 240 | HoeheD = 0; |
240 | VarioMeter = 0; |
| 241 | Mess_Integral_Hoch = 0; |
241 | Mess_Integral_Hoch = 0; |
| 242 | KompassStartwert = KompassValue; |
242 | KompassStartwert = KompassValue; |
| 243 | GPS_Neutral(); |
243 | GPS_Neutral(); |
| 244 | beeptime = 50; |
244 | beeptime = 50; |
| 245 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
245 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| Line 1184... | Line 1184... | ||
| 1184 | DebugOut.Analog[9] = UBat; |
1184 | DebugOut.Analog[9] = UBat; |
| 1185 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
1185 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
| 1186 | DebugOut.Analog[10] = SenderOkay; |
1186 | DebugOut.Analog[10] = SenderOkay; |
| 1187 | //DebugOut.Analog[16] = Mittelwert_AccHoch; |
1187 | //DebugOut.Analog[16] = Mittelwert_AccHoch; |
| 1188 | //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
1188 | //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
| 1189 | //DebugOut.Analog[18] = (int)FromNaviCtrl_Value.OsdBar; |
1189 | DebugOut.Analog[18] = VarioMeter; |
| 1190 | DebugOut.Analog[19] = WinkelOut.CalcState; |
1190 | DebugOut.Analog[19] = WinkelOut.CalcState; |
| 1191 | DebugOut.Analog[20] = ServoValue; |
1191 | DebugOut.Analog[20] = ServoValue; |
| 1192 | // DebugOut.Analog[24] = MesswertNick/2; |
1192 | // DebugOut.Analog[24] = MesswertNick/2; |
| 1193 | // DebugOut.Analog[25] = MesswertRoll/2; |
1193 | // DebugOut.Analog[25] = MesswertRoll/2; |
| 1194 | DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
1194 | DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
| Line 1313... | Line 1313... | ||
| 1313 | 1313 | ||
| 1314 | if(Notlandung) SollHoehe = 0; |
1314 | if(Notlandung) SollHoehe = 0; |
| 1315 | h = HoehenWert; |
1315 | h = HoehenWert; |
| 1316 | if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
1316 | if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| 1317 | { |
1317 | { |
| 1318 | h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / (16 / STICK_GAIN); // Differenz bestimmen --> P-Anteil |
1318 | h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| 1319 | h = GasMischanteil - h; // vom Gas abziehen |
1319 | h = GasMischanteil - h; // vom Gas abziehen |
| 1320 | h -= (HoeheD)/(8/STICK_GAIN); // D-Anteil |
1320 | h -= (Parameter_Luftdruck_D * VarioMeter)/128; // D-Anteil |
| 1321 | tmp_int = ((Mess_Integral_Hoch / 128) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
1321 | tmp_int = ((Mess_Integral_Hoch / 128) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
| 1322 | if(tmp_int > 70*STICK_GAIN) tmp_int = 70*STICK_GAIN; |
1322 | if(tmp_int > 70*STICK_GAIN) tmp_int = 70*STICK_GAIN; |
| 1323 | else if(tmp_int < -(70*STICK_GAIN)) tmp_int = -(70*STICK_GAIN); |
1323 | else if(tmp_int < -(70*STICK_GAIN)) tmp_int = -(70*STICK_GAIN); |
| 1324 | h -= tmp_int; |
1324 | h -= tmp_int; |