1 diff -ur ./V0.82b_orig//fc.c ./V0.82b_cyphy//fc.c
   2 --- ./V0.82b_orig//fc.c	2011-08-16 16:58:27.000000000 +1000
   3 +++ ./V0.82b_cyphy//fc.c	2011-06-21 11:54:11.000000000 +1000
   4 @@ -78,6 +78,7 @@
   5  long SummeNick=0,SummeRoll=0;
   6  volatile long Mess_Integral_Hoch = 0;
   7  int  KompassValue = 0;
   8 +int  ExternOn =0;
   9  int  KompassStartwert = 0;
  10  int  KompassRichtung = 0;
  11  unsigned int  KompassSignalSchlecht = 500;
  12 @@ -164,6 +165,10 @@
  13  #define LIMIT_MAX(value, max) {if(value >= max) value = max;}
  14  #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
  15  
  16 +signed int My_Pitch;
  17 +signed int My_Roll;
  18 +
  19 +
  20  
  21  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  22  //  Debugwerte zuordnen
  23 @@ -176,20 +181,35 @@
  24      DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
  25      DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier;
  26      DebugOut.Analog[5] = HoehenWert/5;
  27 -    DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az;
  28 -    DebugOut.Analog[8] = KompassValue;
  29 -    DebugOut.Analog[9] = UBat;
  30 +    //DebugOut.Analog[5] = StickGas;
  31 +    DebugOut.Analog[11] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; AD value acc high
  32 +    DebugOut.Analog[6] = Aktuell_az; //AD value acc high
  33 +    
  34 +    DebugOut.Analog[8] = UBat;
  35 +    //DebugOut.Analog[8] = ExternOn;
  36 +    //DebugOut.Analog[9] = UBat;
  37 +    DebugOut.Analog[9] = StickGas;
  38 +    //DebugOut.Analog[9] = 100;
  39 +    
  40      DebugOut.Analog[10] = SenderOkay;
  41 -    DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR;
  42 +//    DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR;
  43      DebugOut.Analog[12] = Motor[0].SetPoint;
  44      DebugOut.Analog[13] = Motor[1].SetPoint;
  45      DebugOut.Analog[14] = Motor[2].SetPoint;
  46      DebugOut.Analog[15] = Motor[3].SetPoint;
  47 -    DebugOut.Analog[20] = ServoNickValue;
  48 +    //DebugOut.Analog[20] = ServoNickValue;
  49 +    DebugOut.Analog[20] = UBat;
  50      DebugOut.Analog[22] = Capacity.ActualCurrent;
  51 -    DebugOut.Analog[23] = Capacity.UsedCapacity;
  52 +    //DebugOut.Analog[23] = Capacity.UsedCapacity;
  53 +
  54  //    DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ;
  55  //    DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay;
  56 +    DebugOut.Analog[23] = StickGier;
  57 +    DebugOut.Analog[24] = StickNick;
  58 +    DebugOut.Analog[25] = StickRoll;
  59 +    
  60 +
  61 +    
  62  	DebugOut.Analog[29] = Capacity.MinOfMaxPWM;
  63      DebugOut.Analog[30] = GPS_Nick;
  64      DebugOut.Analog[31] = GPS_Roll;
  65 @@ -368,9 +388,9 @@
  66      static signed long tmpl,tmpl2,tmpl3,tmpl4;
  67  	static signed int oldNick, oldRoll, d2Roll, d2Nick;
  68  	signed long winkel_nick, winkel_roll;
  69 -    unsigned char i;
  70  	MesswertGier = (signed int) AdNeutralGier - AdWertGier;
  71      MesswertNick = (signed int) AdWertNickFilter / 8;
  72 +//    printf("MesswertNick=%d\r\n",MesswertNick);
  73      MesswertRoll = (signed int) AdWertRollFilter / 8;
  74      RohMesswertNick = MesswertNick;
  75      RohMesswertRoll = MesswertRoll;
  76 @@ -643,7 +663,7 @@
  77       static char NeueKompassRichtungMerken = 0;
  78       static long ausgleichNick, ausgleichRoll;
  79       int IntegralNickMalFaktor,IntegralRollMalFaktor;
  80 -	 unsigned char i;
  81 +	 unsigned long i=0;
  82  	Mittelwert();
  83      GRN_ON;
  84  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
  85 @@ -828,9 +848,13 @@
  86   if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
  87    {
  88  	static int stick_nick,stick_roll;
  89 +  static int extern_stick_nick,extern_stick_roll;
  90 +  static  struct str_error previous_error;
  91      ParameterZuordnung();
  92      stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4;
  93      stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
  94 +//    printf("PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = %d\r\n",PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]]);
  95 +//    printf("stick_nick =%d\r\n",stick_nick);
  96      stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4;
  97      stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
  98  
  99 @@ -851,8 +875,37 @@
 100  	FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle];
 101      StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8;
 102      StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8;
 103 +//    printf("stick_nick = %d stick_Roll=%d\r\n",StickNick,StickRoll);
 104   }
 105  
 106 + 
 107 +//=============================================================================================
 108 +// Simple PD Position control part by enddl22 Jan.10.2011
 109 +//=============================================================================================
 110 +
 111 +#if 0
 112 +
 113 +   error.y = CurrentPosition.y-TargetPosition.y;
 114 +   error.x = CurrentPosition.x-TargetPosition.x;
 115 +   My_Pitch = MY_PITCH_P*(CurrentPosition.y-TargetPosition.y)+MY_PITCH_D*(error.y-previous_error.y);
 116 +   My_Roll = MY_ROLL_P*(CurrentPosition.x-TargetPosition.x)+MY_ROLL_D*(error.x-previous_error.x);
 117 +
 118 +   My_Pitch = My_Pitch/PITCH_SCALE;
 119 +   My_Roll = My_Roll/PITCH_SCALE;
 120 +
 121 +   //printf("My_Pitch = %d My_Roll =%d \n\r",My_Pitch,My_Roll);
 122 +
 123 +
 124 +   previous_error = error;
 125 +
 126 +   StickNick -= My_Pitch;
 127 +   StickRoll += My_Roll;
 128 +
 129 +#endif
 130 +
 131 +//=============================================================================================
 132 +   
 133 +   
 134      StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
 135  	if(StickGier > 2) StickGier -= 2; 	else
 136  	if(StickGier < -2) StickGier += 2; else StickGier = 0;
 137 @@ -861,22 +914,91 @@
 138      StickRoll -= (GPS_Roll + GPS_Roll2);
 139     	StickGas  = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120;
 140  
 141 +    //printf("StickNick =%d\r\n",StickNick);
 142 +
 143      GyroFaktor     = (Parameter_Gyro_P + 10.0);
 144      IntegralFaktor = Parameter_Gyro_I;
 145      GyroFaktorGier     = (Parameter_Gyro_Gier_P + 10.0);
 146      IntegralFaktorGier = Parameter_Gyro_Gier_I;
 147  
 148 +    //StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P;
 149 +	  //StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P;
 150 +
 151  //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 152  //+ Analoge Steuerung per Seriell
 153  //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 154 -   if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128)
 155 +//   if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128)
 156 +   if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] > 128)
 157 +
 158 +//   if((ExternControl.Config ==1) && (PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] > 128))
 159      {
 160 +
 161 +      ExternOn =1; // to get the initial position of the stick_gas value in the air.
 162 +//enddl22_21.12.2010[[
 163 +//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 164 +//   Original code from Mikrokopter
 165 +//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 166  	 StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P;
 167  	 StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P;
 168 +
 169 +//	 StickNick += (int) ExternControl.Nick;
 170 +//	 StickRoll += (int) ExternControl.Roll;
 171 +
 172 +
 173 +   // 2Bytes resolution nick/roll
 174 +  // printf("ExternControl.Nick=%\n\r",ExternControl.Nick);
 175 +  // printf("ExternControl.Roll=%\n\r",ExternControl.Roll);
 176 +   //enddl22_03.02.2011 Nick/Roll input data range extension -4096 ~ 4096.
 177 +   // The range was -128 ~ 128
 178 +//   printf("ExternControl.Nick=%d,ExternControl.Roll=%d\n\r",ExternControl.Nick,ExternControl.Roll);
 179 +//   printf("StickNick=%d,StickRoll=%d\n\r",StickNick,StickRoll);
 180 +
 181 +    //StickNick += (int) ExternControl.Nick;
 182 +  	//StickRoll += (int) ExternControl.Roll;
 183 +     
 184 +//    extern_stick_nick = (extern_stick_nick * 3 + (int) ExternControl.Nick * (EE_Parameter.Stick_P-2)) / 4;
 185 +//    extern_stick_nick += (ExternControl.Nick-post_ExternControl.Nick)* (EE_Parameter.Stick_D-4);
 186 +//    printf("Ext =%d , Ext diff = %d \r\n",ExternControl.Nick,ExternControl.Nick-post_ExternControl.Nick);
 187 +
 188 +//    extern_stick_roll = (extern_stick_roll * 3 + (int) ExternControl.Roll * (EE_Parameter.Stick_P-2)) / 4;
 189 +//    extern_stick_roll += (ExternControl.Roll-post_ExternControl.Roll)* (EE_Parameter.Stick_D-4);
 190 +
 191 +//    printf("ExtStickNick =%d , ExtStickRoll = %d \r\n",stick_ExternControl.Nick,ExternControl.Nick-post_ExternControl.Nick);
 192 +    #if 0
 193 +    stick_roll = (stick_roll * 3 + (int) ExternControl.Roll * EE_Parameter.Stick_P) / 4;
 194 +    stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
 195 +    #endif
 196 +
 197 +//    StickNick=extern_stick_nick;
 198 +//    StickRoll=extern_stick_roll;
 199 +
 200 +//    printf("extern_stick_nick =%d , extern_stick_roll = %d \r\n",extern_stick_nick,extern_stick_roll);
 201 +//    post_ExternControl = ExternControl;
 202 +//enddl22_21.12.2010]]
 203 +
 204 +#if 0
 205 +   printf("pitch=%d roll=%d yaw=%d height=%d \n",
 206 +   ExternControl.Nick,
 207 +   ExternControl.Roll,
 208 +   ExternControl.Gier,
 209 +   ExternControl.Hight);
 210 +#endif
 211 +
 212 +   //printf("GasMischanteil=%d PPM=%d\n",GasMischanteil , PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]);
 213 +    
 214  	 StickGier += ExternControl.Gier;
 215       ExternHoehenValue =  (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung;
 216 -     if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
 217 +     //StickGas = ExternControl.Gas;
 218 +
 219 +     if(ExternControl.Gas>=130) StickGas = 130;
 220 +     if(ExternControl.Gas<=0) StickGas=0;
 221 +     StickGas = ExternControl.Gas;
 222 +       
 223 +     //if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
 224      }
 225 +
 226 +   else  ExternOn =0;
 227 +    
 228      if(StickGas < 0) StickGas = 0;
 229  
 230      if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
 231 @@ -1280,7 +1402,8 @@
 232  // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
 233  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 234    if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
 235 -  GasMischanteil *= STICK_GAIN;
 236 +//  GasMischanteil *= STICK_GAIN;
 237 +  GasMischanteil *= 1;
 238  	// if height control is activated
 239   if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick))  // Höhenregelung
 240  	{
 241 @@ -1626,6 +1749,7 @@
 242    LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
 243    if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
 244  
 245 +//printf("MIN_GAS=%d MAX_GAS=%d \n",MIN_GAS,MAX_GAS);
 246  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 247  // all BL-Ctrl connected?
 248  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 249 @@ -1638,7 +1762,8 @@
 250  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 251  // + Mischer und PI-Regler
 252  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 253 -  DebugOut.Analog[7] = GasMischanteil;
 254 +  DebugOut.Analog[7] = GasMischanteil;  // Gas Mixer Input
 255 +  //printf("GasMischanteil=%d\n",GasMischanteil);
 256  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 257  // Gier-Anteil
 258  // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 259 diff -ur ./V0.82b_orig//fc.h ./V0.82b_cyphy//fc.h
 260 --- ./V0.82b_orig//fc.h	2011-08-16 16:58:27.000000000 +1000
 261 +++ ./V0.82b_cyphy//fc.h	2011-01-11 16:21:41.000000000 +1000
 262 @@ -22,6 +22,27 @@
 263  
 264  extern volatile unsigned char FC_StatusFlags;
 265  
 266 +//[[ enddl22_0110.2011
 267 +#define MY_PITCH_P 50
 268 +#define MY_PITCH_D 25
 269 +#define MY_ROLL_P 50
 270 +#define MY_ROLL_D 25
 271 +
 272 +#define PITCH_SCALE 255
 273 +#define ROLL_SCALE 255
 274 +
 275 +struct str_error
 276 +{
 277 +  int x;
 278 +  int y;
 279 +  int yaw;
 280 +};
 281 +struct str_error error;
 282 +
 283 +
 284 +
 285 +//]]
 286 +
 287  
 288  #define Poti1 Poti[0]
 289  #define Poti2 Poti[1]
 290 diff -ur ./V0.82b_orig//GPS.c ./V0.82b_cyphy//GPS.c
 291 --- ./V0.82b_orig//GPS.c	2011-08-16 16:58:27.000000000 +1000
 292 +++ ./V0.82b_cyphy//GPS.c	2011-01-10 23:06:21.000000000 +1000
 293 @@ -8,6 +8,7 @@
 294  
 295  signed int GPS_Nick = 0;
 296  signed int GPS_Roll = 0;
 297 +
 298  signed int GPS_Nick2 = 0;
 299  signed int GPS_Roll2 = 0;
 300  long GpsAktuell_X = 0;
 301 Only in ./V0.82b_orig/: License.txt
 302 Only in ./V0.82b_cyphy/: LICENSE.TXT
 303 diff -ur ./V0.82b_orig//main.c ./V0.82b_cyphy//main.c
 304 --- ./V0.82b_orig//main.c	2011-08-16 16:58:27.000000000 +1000
 305 +++ ./V0.82b_cyphy//main.c	2011-03-10 17:40:48.000000000 +1000
 306 @@ -141,6 +141,19 @@
 307      WDTCSR |= (1<<WDCE)|(1<<WDE);
 308      WDTCSR = 0;
 309  
 310 +   TargetPosition.x =0;
 311 +   TargetPosition.y =0;
 312 +   TargetPosition.yaw =0;
 313 +
 314 +   CurrentPosition.x =0;
 315 +   CurrentPosition.y =0;
 316 +   CurrentPosition.yaw =0;
 317 +
 318 +   PostPosition.x =0;
 319 +   PostPosition.y =0;
 320 +   PostPosition.yaw =0;
 321 +   
 322 +   
 323      beeptime = 2500;
 324  	StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0;
 325      if(PlatinenVersion >= 20)  GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC
 326 @@ -328,9 +341,11 @@
 327  				else
 328  				{
 329  					ExternControl.Config = 0;
 330 +          ExternControl.Gas = 0;
 331  					ExternStickNick = 0;
 332  					ExternStickRoll = 0;
 333  					ExternStickGier = 0;
 334 +          
 335  					if(BeepMuster == 0xffff && SenderOkay == 0)
 336  					{
 337  						beeptime = 15000;
 338 diff -ur ./V0.82b_orig//makefile ./V0.82b_cyphy//makefile
 339 --- ./V0.82b_orig//makefile	2011-08-16 16:58:27.000000000 +1000
 340 +++ ./V0.82b_cyphy//makefile	2010-12-21 19:43:12.000000000 +1000
 341 @@ -1,7 +1,7 @@
 342  #--------------------------------------------------------------------
 343  # MCU name
 344 -#MCU = atmega1284p
 345 -MCU = atmega644p
 346 +MCU = atmega1284p
 347 +#MCU = atmega644p
 348  F_CPU = 20000000
 349  #-------------------------------------------------------------------
 350  VERSION_MAJOR    =   0
 351 diff -ur ./V0.82b_orig//uart.c ./V0.82b_cyphy//uart.c
 352 --- ./V0.82b_orig//uart.c	2011-08-16 16:58:27.000000000 +1000
 353 +++ ./V0.82b_cyphy//uart.c	2011-06-20 23:41:24.000000000 +1000
 354 @@ -68,6 +68,9 @@
 355  unsigned char ConfirmFrame;
 356  struct str_DebugOut    DebugOut;
 357  struct str_ExternControl  ExternControl;
 358 +struct str_Position CurrentPosition;
 359 +struct str_Position TargetPosition;
 360 +struct str_Position PostPosition;
 361  struct str_VersionInfo VersionInfo;
 362  struct str_WinkelOut WinkelOut;
 363  struct str_Data3D Data3D;
 364 @@ -104,8 +107,8 @@
 365      "Hovergas        ",
 366      "Current [0.1A]  ",
 367      "Capacity [mAh]  ",
 368 -    "24              ",
 369 -    "25              ", //25
 370 +    "StickNick       ",
 371 +    "StickRoll       ", //25
 372      "26              ",
 373      "27              ",
 374      "I2C-Error       ",
 375 @@ -335,7 +338,16 @@
 376  	{
 377  		case FC_ADDRESS: // FC special commands
 378  		switch(RxdBuffer[2])
 379 +
 380 +    
 381  		{
 382 +			case 'e': // Retrieve the current position of the quadrotor.
 383 +      		memcpy((unsigned char *)&CurrentPosition , (unsigned char *)pRxData, sizeof(CurrentPosition));
 384 +//          printf("FC_x=%d FC_y=%d FC_yaw=%d \r\n",CurrentPosition.x,CurrentPosition.y,CurrentPosition.yaw);
 385 +         // printf("FC_sizeof=%d , FC_sizeof CurrentPosition=%d\r\n",sizeof(CurrentPosition.x),sizeof(CurrentPosition));
 386 +          
 387 +					break;
 388 +          
 389  			case 'K':// Kompasswert
 390  					memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue));
 391  					KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
 392 @@ -554,6 +566,11 @@
 393  					break;
 394  			case 'b':
 395  					memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl));
 396 +          //printf("Ext.Nick=%d Ext.Roll=%d,StickNick=%d,StickRoll=%d\n\r",ExternControl.Nick,ExternControl.Roll,StickNick,StickRoll);
 397 +          //GPS_Nick=ExternControl.Nick;
 398 +          //GPS_Roll=ExternControl.Roll;
 399 +
 400 +          
 401  					ConfirmFrame = ExternControl.Frame;
 402  					PcZugriff = 255;
 403  					break;
 404 @@ -568,7 +585,6 @@
 405  					if(DebugDataIntervall > 0) DebugDataAnforderung = 1;
 406  					AboTimeOut = SetDelay(ABO_TIMEOUT);
 407  					break;
 408 -
 409  			case 'h':// x-1 Displayzeilen
 410  			        PcZugriff = 255;
 411  			        if((pRxData[0] & 0x80) == 0x00) // old format
 412 @@ -667,6 +683,7 @@
 413  		Intervall3D = 0;
 414  	}
 415  
 416 +#if 1
 417  	if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen)
 418  	{
 419  		if(DisplayLine > 3)// new format
 420 @@ -711,13 +728,17 @@
 421            if(WinkelOut.CalcState > 4)  WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt
 422         	  Kompass_Timer = SetDelay(99);
 423      	 }
 424 +    #endif
 425      if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen)
 426      	 {
 427  		  CopyDebugValues();
 428 -          SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut));
 429 +          SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)-38);
 430 +//          SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)-18);
 431 +   
 432         	  DebugDataAnforderung = 0;
 433            if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall);
 434      	 }
 435 +    #if 1
 436      if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen)
 437      	 {
 438  		  Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4));  // etwa in 0.1 Grad
 439 @@ -756,6 +777,8 @@
 440  	 }
 441  #endif
 442  
 443 +#endif
 444 +
 445  }
 446  
 447  
 448 diff -ur ./V0.82b_orig//uart.h ./V0.82b_cyphy//uart.h
 449 --- ./V0.82b_orig//uart.h	2011-08-16 16:58:27.000000000 +1000
 450 +++ ./V0.82b_cyphy//uart.h	2011-06-21 00:12:29.000000000 +1000
 451 @@ -49,6 +49,7 @@
 452  };
 453  extern struct str_Data3D Data3D;
 454  
 455 +#if 0
 456  struct str_ExternControl
 457  {
 458   unsigned char Digital[2];
 459 @@ -62,8 +63,56 @@
 460   unsigned char Frame;
 461   unsigned char Config;
 462  };
 463 +#endif
 464 +
 465 +#if 0
 466 +struct str_ExternControl
 467 +{
 468 + unsigned char Digital[2];
 469 + unsigned char RemoteTasten;
 470 + signed char   Nick;
 471 + signed char   Roll;
 472 + signed char   Gier;
 473 + unsigned char Gas;
 474 + signed char   Hight;
 475 + unsigned char free;
 476 + unsigned char Frame;
 477 + unsigned char Config;
 478 +};
 479 +
 480 +#endif
 481 +
 482 +struct str_ExternControl
 483 +{
 484 +  unsigned int Gas;
 485 +  unsigned char Digital[2];
 486 +  unsigned char RemoteTasten;
 487 +  signed char   Nick;
 488 +  signed char   Roll;
 489 +  signed char   Gier;
 490 +  unsigned char  Hight;
 491 +  unsigned char free;
 492 +  unsigned char Frame;
 493 +  unsigned char Config;
 494 +  unsigned char dummy;
 495 +};
 496 +
 497 +
 498 +
 499  extern struct str_ExternControl   ExternControl;
 500  
 501 +struct str_Position
 502 +{
 503 +  int x;
 504 +  int y;
 505 +  int yaw;
 506 +};
 507 +extern struct str_Position CurrentPosition;
 508 +extern struct str_Position TargetPosition;
 509 +extern struct str_Position PostPosition;
 510 +
 511 +
 512 +
 513  // FC hardware errors
 514  
 515  // bitmask for UART_VersionInfo_t.HardwareError[0]
 516 @@ -102,6 +151,7 @@
 517  //#define USART0_BAUD 28800
 518  //#define USART0_BAUD 38400
 519  #define USART0_BAUD 57600
 520 +//#define USART0_BAUD 115200
 521  
 522  
 523  #endif //_UART_H