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Rev | Author | Line No. | Line |
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2751 | - | 1 | /*####################################################################################### |
2 | Flight Control |
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3 | #######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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7 | // + Software Nutzungsbedingungen (english version: see below) |
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8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
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15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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32 | // + Software LICENSING TERMS |
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33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
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35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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56 | |||
57 | #include "main.h" |
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58 | #include "mymath.h" |
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59 | #include "isqrt.h" |
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60 | |||
61 | unsigned char h,m,s; |
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62 | unsigned int BaroExpandActive = 0; |
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63 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
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64 | int TrimNick, TrimRoll; |
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65 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
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66 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
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67 | unsigned int NeutralAccX=0, NeutralAccY=0; |
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68 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
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69 | int NeutralAccZ = 0; |
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70 | signed char NeutralAccZfine = 0; |
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71 | unsigned char ControlHeading = 0;// in 2° |
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72 | long IntegralNick = 0,IntegralNick2 = 0; |
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73 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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74 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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75 | long Integral_Gier = 0; |
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76 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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77 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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78 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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79 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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80 | long SummeNick=0,SummeRoll=0; |
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81 | volatile long Mess_Integral_Hoch = 0; |
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82 | int KompassValue = -1; |
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83 | int KompassSollWert = 0; |
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84 | //int KompassRichtung = 0; |
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85 | char CalculateCompassTimer = 100; |
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86 | unsigned char KompassFusion = 32; |
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87 | unsigned int KompassSignalSchlecht = 50; |
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88 | unsigned char MAX_GAS,MIN_GAS; |
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89 | unsigned char HoehenReglerAktiv = 0; |
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90 | unsigned char TrichterFlug = 0; |
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91 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
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92 | long ErsatzKompass; |
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93 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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94 | int GierGyroFehler = 0; |
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95 | char GyroFaktor,GyroFaktorGier; |
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96 | char IntegralFaktor,IntegralFaktorGier; |
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97 | int DiffNick,DiffRoll; |
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98 | int StickGasHover = 127, HoverGasMin = 0, HoverGasMax = 1023; |
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99 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
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100 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
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101 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
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102 | volatile unsigned char SenderOkay = 0; |
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103 | char MotorenEin = 0,StartTrigger = 0; |
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104 | long HoehenWert = 0; |
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105 | long SollHoehe = 0; |
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106 | signed int AltitudeSetpointTrimming = 0; |
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107 | long FromNC_AltitudeSetpoint = 0; |
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108 | unsigned char FromNC_AltitudeSpeed = 0; |
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109 | unsigned char carefree_old = 50; // to make the Beep when switching |
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110 | signed char WaypointTrimming = 0; |
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111 | int CompassGierSetpoint = 0; |
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112 | unsigned char CalibrationDone = 0; |
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113 | char NeueKompassRichtungMerken = 0; |
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114 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
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115 | //float Ki = FAKTOR_I; |
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116 | int Ki = 10300 / 33; |
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117 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
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118 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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119 | |||
120 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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121 | unsigned char Parameter_HoehenSchalter = 0; // Wert : 0-250 |
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122 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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123 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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124 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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125 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
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126 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
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127 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
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128 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
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129 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
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130 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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131 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
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132 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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133 | unsigned char Parameter_UserParam1 = 0; |
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134 | unsigned char Parameter_UserParam2 = 0; |
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135 | unsigned char Parameter_UserParam3 = 0; |
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136 | unsigned char Parameter_UserParam4 = 0; |
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137 | unsigned char Parameter_UserParam5 = 0; |
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138 | unsigned char Parameter_UserParam6 = 0; |
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139 | unsigned char Parameter_UserParam7 = 0; |
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140 | unsigned char Parameter_UserParam8 = 0; |
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141 | unsigned char Parameter_NickControl = 100; |
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142 | unsigned char Parameter_ServoNickControl = 100; |
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143 | unsigned char Parameter_ServoRollControl = 100; |
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144 | unsigned char Parameter_ServoNickComp = 50; |
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145 | unsigned char Parameter_ServoRollComp = 85; |
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146 | unsigned char Parameter_LoopGasLimit = 70; |
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147 | unsigned char Parameter_AchsKopplung1 = 90; |
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148 | unsigned char Parameter_AchsKopplung2 = 65; |
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149 | unsigned char Parameter_CouplingYawCorrection = 64; |
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150 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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151 | unsigned char Parameter_DynamicStability = 100; |
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152 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
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153 | unsigned char Parameter_J16Timing; // for the J16 Output |
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154 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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155 | unsigned char Parameter_J17Timing; // for the J17 Output |
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156 | unsigned char Parameter_NaviGpsGain; |
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157 | unsigned char Parameter_NaviGpsP; |
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158 | unsigned char Parameter_NaviGpsI; |
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159 | unsigned char Parameter_NaviGpsD; |
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160 | unsigned char Parameter_NaviGpsA; |
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161 | unsigned char Parameter_NaviOperatingRadius; |
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162 | unsigned char Parameter_NaviWindCorrection; |
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163 | unsigned char Parameter_NaviSpeedCompensation; |
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164 | unsigned char Parameter_ExternalControl; |
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165 | unsigned char Parameter_GlobalConfig; |
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166 | unsigned char Parameter_ExtraConfig; |
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167 | unsigned char Parameter_MaximumAltitude; |
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168 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
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169 | unsigned char CareFree = 0; |
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170 | const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps |
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171 | |||
172 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
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173 | int MaxStickNick = 0,MaxStickRoll = 0; |
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174 | unsigned int modell_fliegt = 0; |
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175 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
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176 | long GIER_GRAD_FAKTOR = 1291; |
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177 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
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178 | signed int tmp_motorwert[MAX_MOTORS]; |
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179 | char VarioCharacter = ' '; |
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180 | unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
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181 | unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
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182 | signed int Variance = 0; |
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183 | signed int CosAttitude; // for projection of hoover gas |
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184 | unsigned char ACC_AltitudeControl = 0; |
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185 | unsigned char LowVoltageLandingActive = 0; |
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186 | |||
187 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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188 | #define OPA_OFFSET_STEP 5 |
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189 | #else |
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190 | #define OPA_OFFSET_STEP 10 |
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191 | #endif |
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192 | |||
193 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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194 | // Debugwerte zuordnen |
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195 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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196 | void CopyDebugValues(void) |
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197 | { |
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198 | DebugOut.Analog[0] = ToNaviCtrl.IntegralNick;//IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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199 | DebugOut.Analog[1] = ToNaviCtrl.IntegralRoll;//IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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200 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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201 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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202 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
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203 | DebugOut.Analog[5] = HoehenWert/10; |
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204 | DebugOut.Analog[6] = Aktuell_az;//AdWertAccHoch;//(Mess_Integral_Hoch / 512); |
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205 | DebugOut.Analog[8] = KompassValue; |
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206 | DebugOut.Analog[9] = UBat; |
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207 | DebugOut.Analog[10] = SenderOkay; |
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208 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
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209 | DebugOut.Analog[12] = Motor[0].SetPoint; |
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210 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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211 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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212 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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213 | DebugOut.Analog[20] = ServoNickValue; |
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214 | DebugOut.Analog[21] = HoverGas; |
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215 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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216 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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217 | DebugOut.Analog[24] = SollHoehe/10; |
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218 | DebugOut.Analog[27] = KompassSollWert; |
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219 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
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220 | DebugOut.Analog[30] = GPS_Nick; |
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221 | DebugOut.Analog[31] = GPS_Roll; |
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222 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
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223 | //DebugOut.Analog[16] = MinBlTemperture; |
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224 | //DebugOut.Analog[17] = MaxBlTemperture; |
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225 | //DebugOut.Analog[16] = Variance; |
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226 | //DebugOut.Analog[17] = VarioMeter; |
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227 | //DebugOut.Analog[16] = GasIsZeroCnt; |
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228 | //DebugOut.Analog[18] = HoehenWertF; |
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229 | //DebugOut.Analog[25] = Parameter_Hoehe_P; |
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230 | //DebugOut.Analog[26] = Parameter_Luftdruck_D; |
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231 | } |
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232 | |||
233 | |||
234 | void Piep(unsigned char Anzahl, unsigned int dauer) |
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235 | { |
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236 | unsigned int wait = 0; |
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237 | if(MotorenEin) return; //auf keinen Fall im Flug! |
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238 | GRN_OFF; |
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239 | while(Anzahl--) |
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240 | { |
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241 | beeptime = dauer; |
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242 | wait = dauer; |
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243 | while(beeptime || wait) |
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244 | { |
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245 | if(UpdateMotor) |
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246 | { |
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247 | UpdateMotor = 0; |
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248 | if(!beeptime) wait--; |
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249 | LIBFC_Polling(); |
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250 | }; |
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251 | } |
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252 | } |
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253 | GRN_ON; |
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254 | } |
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255 | |||
256 | //############################################################################ |
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257 | // Messwerte beim Ermitteln der Nullage |
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258 | void CalibrierMittelwert(void) |
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259 | //############################################################################ |
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260 | { |
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261 | unsigned char i; |
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262 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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263 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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264 | ANALOG_OFF; |
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265 | MesswertNick = AdWertNick; |
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266 | MesswertRoll = AdWertRoll; |
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267 | MesswertGier = AdWertGier; |
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268 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
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269 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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270 | // ADC einschalten |
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271 | ANALOG_ON; |
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272 | for(i=0;i<8;i++) |
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273 | { |
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274 | int tmp; |
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275 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
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276 | LIMIT_MIN_MAX(tmp, 0, 255); |
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277 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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278 | } |
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279 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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280 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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281 | } |
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282 | |||
283 | //############################################################################ |
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284 | // Nullwerte ermitteln |
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285 | // Parameter: 0 -> after switch on (ignore ACC-Z fault) |
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286 | // Parameter: 1 -> before Start |
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287 | // Parameter: 2 -> calibrate and store ACC |
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288 | unsigned char SetNeutral(unsigned char AdjustmentMode) // retuns: "sucess" |
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289 | //############################################################################ |
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290 | { |
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291 | unsigned char i, sucess = 1; |
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292 | unsigned int gier_neutral = 0, nick_neutral = 0, roll_neutral = 0, acc_z_neutral = 0, barotest; |
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293 | VersionInfo.HardwareError[0] = 0; |
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294 | // HEF4017Reset_ON; |
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295 | NeutralAccX = 0; |
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296 | NeutralAccY = 0; |
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297 | NeutralAccZ = 0; |
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298 | NeutralAccZfine = 0; |
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299 | |||
300 | AdNeutralNick = 0; |
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301 | AdNeutralRoll = 0; |
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302 | AdNeutralGier = 0; |
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303 | |||
304 | Parameter_AchsKopplung1 = 0; |
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305 | Parameter_AchsKopplung2 = 0; |
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306 | |||
307 | ExpandBaro = 0; |
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308 | |||
309 | CalibrierMittelwert(); |
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310 | Delay_ms_Mess(100); |
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311 | |||
312 | CalibrierMittelwert(); |
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313 | |||
314 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
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315 | { |
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316 | if((MessLuftdruck > 950) || (MessLuftdruck < 750) || ExpandBaro) SucheLuftruckOffset(); |
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317 | } |
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318 | |||
319 | barotest = MessLuftdruck; |
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320 | #define NEUTRAL_FILTER 32 |
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321 | OCR0A += OPA_OFFSET_STEP; |
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322 | OCR0B = 255 - OCR0A; |
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323 | for(i=0; i<NEUTRAL_FILTER; i++) |
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324 | { |
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325 | Delay_ms_Mess(10); |
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326 | gier_neutral += AdWertGier; |
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327 | nick_neutral += AdWertNick; |
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328 | roll_neutral += AdWertRoll; |
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329 | acc_z_neutral += Aktuell_az; |
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330 | } |
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331 | if(MessLuftdruck < 1010 && MessLuftdruck > 20) BaroStep = barotest - MessLuftdruck; |
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332 | OCR0A -= OPA_OFFSET_STEP; |
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333 | OCR0B = 255 - OCR0A; |
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334 | AdNeutralNick = (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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335 | AdNeutralRoll = (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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336 | AdNeutralGier = (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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337 | NeutralAccZ = (acc_z_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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338 | |||
339 | StartNeutralRoll = AdNeutralRoll; |
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340 | StartNeutralNick = AdNeutralNick; |
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341 | |||
342 | if(AdjustmentMode == 2) |
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343 | { |
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344 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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345 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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346 | // Save ACC neutral settings to eeprom |
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347 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
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348 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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349 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
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350 | } |
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351 | else |
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352 | { |
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353 | // restore from eeprom |
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354 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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355 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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356 | // strange settings? |
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357 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048)/* || ((unsigned int) NeutralAccZ > 1024)*/) |
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358 | { |
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359 | printf("\n\rACC not calibrated!\r\n"); |
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360 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
||
361 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
||
362 | sucess = 0; |
||
363 | } |
||
364 | } |
||
365 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
||
366 | MesswertNick = 0; |
||
367 | MesswertRoll = 0; |
||
368 | MesswertGier = 0; |
||
369 | Delay_ms_Mess(200); |
||
370 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
||
371 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
||
372 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
373 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
374 | Mess_IntegralNick = IntegralNick; |
||
375 | Mess_IntegralRoll = IntegralRoll; |
||
376 | Mess_Integral_Gier = 0; |
||
377 | KompassSollWert = KompassValue; |
||
378 | KompassSignalSchlecht = 100; |
||
379 | beeptime = 50; |
||
380 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
||
381 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
382 | ExternHoehenValue = 0; |
||
383 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
||
384 | GierGyroFehler = 0; |
||
385 | LED_Init(); |
||
386 | if(AdjustmentMode != 0) FC_StatusFlags |= FC_STATUS_CALIBRATE; |
||
387 | FromNaviCtrl_Value.Kalman_K = -1; |
||
388 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
||
389 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
||
390 | for(i=0;i<8;i++) |
||
391 | { |
||
392 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
||
393 | } |
||
394 | SenderOkay = 100; |
||
395 | |||
396 | if(ServoActive) DDRD |=0x80; // enable J7 -> Servo signal |
||
397 | else |
||
398 | { |
||
399 | if((EE_Parameter.ServoCompInvert & SERVO_NICK_INV) && (EE_Parameter.ServoCompInvert & SERVO_RELATIVE)) NickServoValue = 12000;//((128 + 60) * 4 * 16); // neutral position = upper 1/4// else |
||
400 | else NickServoValue = ((128 - 60) * 4 * 16); // neutral position = lower 1/4 |
||
401 | CalculateServoSignals = 1; |
||
402 | CalculateServo(); // nick |
||
403 | CalculateServo(); // roll |
||
404 | } |
||
405 | |||
406 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
407 | signed int tilt1, tilt2; |
||
408 | tilt1 = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
||
409 | tilt2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
410 | tilt1 = (int16_t)ihypot(tilt1,tilt2); // tilt angle over all |
||
411 | CosAttitude = c_cos_8192(tilt1); |
||
412 | NeutralAccZ = (long)((long) (NeutralAccZ - 512) * 8192 + 4096) / CosAttitude + 512; |
||
413 | if(tilt1 > 20) sucess = 0; // calibration must be within 20° Tilt angle |
||
414 | if(AdjustmentMode != 0 && ACC_AltitudeControl) if((NeutralAccZ < 682 - 25) || (NeutralAccZ > 682 + 25)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; sucess = 0;}; |
||
415 | #else |
||
416 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
||
417 | EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
||
418 | #endif |
||
419 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
||
420 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
421 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
422 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
423 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
424 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
425 | if(VersionInfo.HardwareError[0]) sucess = 0; |
||
426 | carefree_old = 70; |
||
427 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
428 | LIBFC_HoTT_Clear(); |
||
429 | ACC_AltitudeFusion(2); // initalisation |
||
430 | #endif |
||
431 | StartLuftdruck = Luftdruck; |
||
432 | VarioMeter = 0; |
||
433 | SummenHoehe = 0; Mess_Integral_Hoch = 0; |
||
434 | DebugOut.Analog[28] = 0; // I2C-Counter |
||
435 | CalcExpandBaroStep(); |
||
436 | return(sucess); |
||
437 | } |
||
438 | |||
439 | |||
440 | //############################################################################ |
||
441 | // Bearbeitet die Messwerte |
||
442 | void Mittelwert(void) |
||
443 | //############################################################################ |
||
444 | { |
||
445 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
||
446 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
447 | signed long winkel_nick, winkel_roll; |
||
448 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
||
449 | MesswertNick = (signed int) AdWertNickFilter / 8; |
||
450 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
451 | RohMesswertNick = MesswertNick; |
||
452 | RohMesswertRoll = MesswertRoll; |
||
453 | |||
454 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
455 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
||
456 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
457 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
||
458 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
459 | NaviAccNick += AdWertAccNick; |
||
460 | NaviAccRoll += AdWertAccRoll; |
||
461 | NaviCntAcc++; |
||
462 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
||
463 | |||
464 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
465 | // ADC einschalten |
||
466 | ANALOG_ON; |
||
467 | AdReady = 0; |
||
468 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
469 | |||
470 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
||
471 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
472 | else winkel_roll = Mess_IntegralRoll; |
||
473 | |||
474 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
||
475 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
476 | else winkel_nick = Mess_IntegralNick; |
||
477 | |||
478 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
479 | Mess_Integral_Gier += MesswertGier; |
||
480 | ErsatzKompass += MesswertGier; |
||
481 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
||
482 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
483 | { |
||
484 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
||
485 | tmpl3 *= Parameter_AchsKopplung2; //65 |
||
486 | tmpl3 /= 4096L; |
||
487 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
||
488 | tmpl4 *= Parameter_AchsKopplung2; //65 |
||
489 | tmpl4 /= 4096L; |
||
490 | KopplungsteilNickRoll = tmpl3; |
||
491 | KopplungsteilRollNick = tmpl4; |
||
492 | tmpl4 -= tmpl3; |
||
493 | ErsatzKompass += tmpl4; |
||
494 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
||
495 | |||
496 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
||
497 | tmpl *= Parameter_AchsKopplung1; // 90 |
||
498 | tmpl /= 4096L; |
||
499 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
||
500 | tmpl2 *= Parameter_AchsKopplung1; |
||
501 | tmpl2 /= 4096L; |
||
502 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
||
503 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
||
504 | } |
||
505 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
||
506 | TrimRoll = tmpl - tmpl2 / 100L; |
||
507 | TrimNick = -tmpl2 + tmpl / 100L; |
||
508 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
509 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
510 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
511 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
512 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
||
513 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
514 | if(Mess_IntegralRoll > Umschlag180Roll) |
||
515 | { |
||
516 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
||
517 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
518 | } |
||
519 | if(Mess_IntegralRoll <-Umschlag180Roll) |
||
520 | { |
||
521 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
||
522 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
523 | } |
||
524 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
525 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
||
526 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
527 | if(Mess_IntegralNick > Umschlag180Nick) |
||
528 | { |
||
529 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
530 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
531 | } |
||
532 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
533 | { |
||
534 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
||
535 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
536 | } |
||
537 | |||
538 | Integral_Gier = Mess_Integral_Gier; |
||
539 | IntegralNick = Mess_IntegralNick; |
||
540 | IntegralRoll = Mess_IntegralRoll; |
||
541 | IntegralNick2 = Mess_IntegralNick2; |
||
542 | IntegralRoll2 = Mess_IntegralRoll2; |
||
543 | |||
544 | #define D_LIMIT 128 |
||
545 | |||
546 | MesswertNick = HiResNick / 8; |
||
547 | MesswertRoll = HiResRoll / 8; |
||
548 | |||
549 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
||
550 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
551 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
552 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
553 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
554 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
555 | |||
556 | if(Parameter_Gyro_D) |
||
557 | { |
||
558 | d2Nick = HiResNick - oldNick; |
||
559 | oldNick = (oldNick + HiResNick)/2; |
||
560 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
||
561 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
562 | |||
563 | d2Roll = HiResRoll - oldRoll; |
||
564 | oldRoll = (oldRoll + HiResRoll)/2; |
||
565 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
||
566 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
567 | |||
568 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
||
569 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
||
570 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
571 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
572 | } |
||
573 | |||
574 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
575 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
576 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
577 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
578 | |||
579 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
580 | { |
||
581 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
582 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
583 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
584 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
585 | } |
||
586 | } |
||
587 | |||
588 | //############################################################################ |
||
589 | // Senden der Motorwerte per I2C-Bus |
||
590 | void SendMotorData(void) |
||
591 | //############################################################################ |
||
592 | { |
||
593 | unsigned char i; |
||
594 | if(!MotorenEin) |
||
595 | { |
||
596 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
||
597 | FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF; |
||
598 | for(i=0;i<MAX_MOTORS;i++) |
||
599 | { |
||
600 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
601 | Motor[i].SetPoint = MotorTest[i]; |
||
602 | Motor[i].SetPointLowerBits = 0; |
||
603 | /* |
||
604 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
||
605 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
606 | */ |
||
607 | } |
||
608 | if(PC_MotortestActive) PC_MotortestActive--; |
||
609 | } |
||
610 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
||
611 | |||
612 | if(I2C_TransferActive) |
||
613 | { |
||
614 | I2C_TransferActive = 0; // enable for the next time |
||
615 | } |
||
616 | else |
||
617 | { |
||
618 | motor_write = 0; |
||
619 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
||
620 | } |
||
621 | } |
||
622 | |||
623 | unsigned char GetChannelValue(unsigned char ch) // gives the unsigned value of the channel |
||
624 | { |
||
625 | int tmp2; |
||
626 | if(ch == 0) return(0); |
||
627 | tmp2 = PPM_in[ch] + 127; |
||
628 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
||
629 | return(tmp2); |
||
630 | } |
||
631 | |||
632 | //############################################################################ |
||
633 | // Trägt ggf. das Poti als Parameter ein |
||
634 | void ParameterZuordnung(void) |
||
635 | //############################################################################ |
||
636 | { |
||
637 | unsigned char tmp,i; |
||
638 | for(i=0;i<8;i++) |
||
639 | { |
||
640 | int tmp2; |
||
641 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
||
642 | tmp2 = PPM_in[tmp] + 127; |
||
643 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
||
644 | |||
645 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
||
646 | else |
||
647 | if(tmp2 != Poti[i]) |
||
648 | { |
||
649 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
650 | if(Poti[i] > tmp2) Poti[i]--; |
||
651 | else Poti[i]++; |
||
652 | } |
||
653 | } |
||
654 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
||
655 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
656 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
657 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
||
658 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
||
659 | |||
660 | if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16) |
||
661 | else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} |
||
662 | else CHK_POTI_MM(Parameter_Servo3,EE_Parameter.Servo3, 24, 255); |
||
663 | |||
664 | if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} |
||
665 | else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17) |
||
666 | else CHK_POTI_MM(Parameter_Servo4,EE_Parameter.Servo4, 24, 255); |
||
667 | |||
668 | CHK_POTI_MM(Parameter_Servo5,EE_Parameter.Servo5, 24, 255); |
||
669 | Parameter_HoehenSchalter = GetChannelValue(EE_Parameter.HoeheChannel); |
||
670 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
||
671 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
672 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
673 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
674 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
675 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
676 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
677 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
678 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
679 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
680 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
681 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
682 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
683 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
684 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
685 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
686 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
687 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
688 | CHK_POTI(Parameter_ServoNickComp,EE_Parameter.ServoNickComp); |
||
689 | CHK_POTI(Parameter_ServoRollComp,EE_Parameter.ServoRollComp); |
||
690 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
691 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
||
692 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
693 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
||
694 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
||
695 | if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
||
696 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
||
697 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
||
698 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
699 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
700 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
701 | Ki = 10300 / (Parameter_I_Faktor + 1); |
||
702 | MAX_GAS = EE_Parameter.Gas_Max; |
||
703 | MIN_GAS = EE_Parameter.Gas_Min; |
||
704 | |||
705 | if(EE_Parameter.CareFreeChannel) |
||
706 | { |
||
707 | CareFree = 1; |
||
708 | if(PPM_in[EE_Parameter.CareFreeChannel] < -64) CareFree = 0; |
||
709 | // if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
||
710 | if(carefree_old != CareFree) |
||
711 | { |
||
712 | if(carefree_old < 3) |
||
713 | { |
||
714 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
715 | if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
||
716 | else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
||
717 | #else |
||
718 | if(CareFree) beeptime = 1500; |
||
719 | else beeptime = 200; |
||
720 | #endif |
||
721 | NeueKompassRichtungMerken = 5; |
||
722 | carefree_old = CareFree; |
||
723 | } else carefree_old--; |
||
724 | } |
||
725 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
||
726 | } |
||
727 | else |
||
728 | { |
||
729 | CareFree = 0; |
||
730 | carefree_old = 10; |
||
731 | } |
||
732 | |||
733 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
||
734 | { |
||
735 | beeptime = 15000; |
||
736 | BeepMuster = 0xA400; |
||
737 | CareFree = 0; |
||
738 | } |
||
739 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; /*if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;*/} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
||
740 | } |
||
741 | |||
742 | //############################################################################ |
||
743 | // |
||
744 | void MotorRegler(void) |
||
745 | //############################################################################ |
||
746 | { |
||
747 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
||
748 | int GierMischanteil,GasMischanteil; |
||
749 | static long sollGier = 0,tmp_long,tmp_long2; |
||
750 | static long IntegralFehlerNick = 0; |
||
751 | static long IntegralFehlerRoll = 0; |
||
752 | static unsigned int RcLostTimer; |
||
753 | static unsigned char delay_neutral = 0; |
||
754 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
755 | static signed char move_safety_switch = 0; |
||
756 | static long ausgleichNick, ausgleichRoll; |
||
757 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
||
758 | unsigned char i; |
||
759 | Mittelwert(); |
||
760 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
761 | // Gaswert ermitteln |
||
762 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
763 | if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
||
764 | { |
||
765 | if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
||
766 | { |
||
767 | if(HoverGas && HoverGas < 150 * STICK_GAIN) |
||
768 | { |
||
769 | HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
||
770 | } |
||
771 | else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
||
772 | } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
||
773 | } |
||
774 | if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
||
775 | { |
||
776 | StickGas = 0; // Hold Gas down in that case |
||
777 | HooverGasEmergencyPercent = MIN_GAS; |
||
778 | } |
||
779 | GasMischanteil = StickGas; |
||
780 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
||
781 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
782 | // Empfang schlecht |
||
783 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
784 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
||
785 | { |
||
786 | if(RcLostTimer) RcLostTimer--; |
||
787 | else |
||
788 | { |
||
789 | MotorenEin = 0; |
||
790 | modell_fliegt = 0; |
||
791 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
||
792 | } |
||
793 | ROT_ON; |
||
794 | if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
||
795 | { |
||
796 | GasMischanteil = HooverGasEmergencyPercent; |
||
797 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
||
798 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
799 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
800 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
||
801 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
802 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
803 | } |
||
804 | else |
||
805 | { |
||
806 | MotorenEin = 0; |
||
807 | } |
||
808 | } |
||
809 | else |
||
810 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
811 | // Emfang gut |
||
812 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
813 | if(SenderOkay > 140) |
||
814 | { |
||
815 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
816 | static unsigned int trigger = 1000; |
||
817 | static unsigned char old_switch = 100; |
||
818 | if(EE_Parameter.StartLandChannel && EE_Parameter.LandingSpeed) |
||
819 | { |
||
820 | if(PPM_in[EE_Parameter.StartLandChannel] > 50) |
||
821 | { |
||
822 | if(old_switch == 50) if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) { FC_StatusFlags2 |= FC_STATUS2_AUTO_STARTING; SpeakHoTT = SPEAK_RISING;} |
||
823 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING; |
||
824 | old_switch = 150; |
||
825 | } |
||
826 | else |
||
827 | if(PPM_in[EE_Parameter.StartLandChannel] < -50) |
||
828 | { |
||
829 | if(old_switch == 150) { FC_StatusFlags2 |= FC_STATUS2_AUTO_LANDING; SpeakHoTT = SPEAK_SINKING;} |
||
830 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_STARTING; |
||
831 | old_switch = 50; |
||
832 | } |
||
833 | else |
||
834 | { |
||
835 | FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
||
836 | } |
||
837 | } |
||
838 | #endif |
||
839 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
||
840 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
||
841 | if(GasMischanteil > 40 && MotorenEin) |
||
842 | { |
||
843 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
844 | } |
||
845 | if((modell_fliegt < 256)) |
||
846 | { |
||
847 | SummeNick = 0; |
||
848 | SummeRoll = 0; |
||
849 | sollGier = 0; |
||
850 | Mess_Integral_Gier = 0; |
||
851 | FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; |
||
852 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
853 | old_switch = 100; |
||
854 | #endif |
||
855 | } |
||
856 | else |
||
857 | { |
||
858 | FC_StatusFlags |= FC_STATUS_FLY; |
||
859 | if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) |
||
860 | { |
||
861 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
862 | if((NC_To_FC_Flags & NC_TO_FC_AUTOSTART || FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) && (VarioCharacter == '=') && ACC_AltitudeControl) |
||
863 | { |
||
864 | FromNC_AltitudeSpeed = 80; |
||
865 | FromNC_AltitudeSetpoint = 500; |
||
866 | SollHoehe = 500; |
||
867 | trigger = 1000; |
||
868 | if(NC_To_FC_Flags & NC_TO_FC_AUTOSTART) SpeakHoTT = SPEAK_NEXT_WP; |
||
869 | /* if(StartTrigger != 2) |
||
870 | { |
||
871 | StartTrigger = 1; |
||
872 | if(HoverGas < STICK_GAIN * 35) HoverGas = STICK_GAIN * 35; |
||
873 | } |
||
874 | */ |
||
875 | } |
||
876 | // else FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING); |
||
877 | #endif |
||
878 | if(HoehenWertF > 150 || HoehenWert < -350 || !(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) |
||
879 | { |
||
880 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
881 | trigger = 1000; |
||
882 | if(FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) { FromNC_AltitudeSpeed = 0; SollHoehe = 300;/*HoehenWertF + 100;*/} |
||
883 | else SpeakHoTT = SPEAK_RISING; |
||
884 | #endif |
||
885 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
||
886 | } |
||
887 | SummeNick = 0; |
||
888 | SummeRoll = 0; |
||
889 | Mess_Integral_Gier = 0; |
||
890 | // sollGier = 0; |
||
891 | if(modell_fliegt > 1000) modell_fliegt = 1000; // for the Hooverpoint-Estimation |
||
892 | } |
||
893 | else // Flying mode |
||
894 | { |
||
895 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
896 | if((FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) && (VarioCharacter == 'v' || VarioCharacter == '=') && ACC_AltitudeControl) |
||
897 | { |
||
898 | FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
||
899 | FromNC_AltitudeSetpoint = -20000; |
||
900 | } |
||
901 | if(trigger < 1000) |
||
902 | { |
||
903 | trigger++; |
||
904 | SummeNick = 0; |
||
905 | SummeRoll = 0; |
||
906 | Mess_Integral_Gier = 0; |
||
907 | SollHoehe = HoehenWertF - 300; |
||
908 | if(trigger == 1000 && FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING && VarioCharacter != '+') |
||
909 | { |
||
910 | FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING; |
||
911 | FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; // go back into starting state |
||
912 | } |
||
913 | } |
||
914 | else |
||
915 | if(ACC_AltitudeControl && (VarioCharacter == 'v' || VarioCharacter == '-') && HoehenWert < 1000 /*&& FromNC_AltitudeSetpoint < 0*/) |
||
916 | { |
||
917 | if(Aktuell_az > 940) |
||
918 | { |
||
919 | trigger = 0; |
||
920 | SpeakHoTT = SPEAK_LANDING; |
||
921 | }; |
||
922 | } |
||
923 | #endif |
||
924 | } |
||
925 | } // end of: modell_fliegt > 256 |
||
926 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
||
927 | { |
||
928 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
929 | // auf Nullwerte kalibrieren |
||
930 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
931 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
||
932 | { |
||
933 | if(++delay_neutral > 200) // nicht sofort |
||
934 | { |
||
935 | delay_neutral = 0; |
||
936 | modell_fliegt = 0; |
||
937 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
938 | { |
||
939 | unsigned char setting=1; |
||
940 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
||
941 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
942 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
943 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
944 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
945 | SetActiveParamSet(setting); // aktiven Datensatz merken |
||
946 | } |
||
947 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
||
948 | { |
||
949 | WinkelOut.CalcState = 1; |
||
950 | CalibrationDone = 0; |
||
951 | beeptime = 1000; |
||
952 | } |
||
953 | else |
||
954 | { |
||
955 | ParamSet_ReadFromEEProm(ActiveParamSet); |
||
956 | LipoDetection(0); |
||
957 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
||
958 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
||
959 | { |
||
960 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
||
961 | } |
||
962 | CalibrationDone = SetNeutral(1); |
||
963 | ServoActive = 1; |
||
964 | DDRD |=0x80; // enable J7 -> Servo signal |
||
965 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
966 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
||
967 | else |
||
968 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
||
969 | else SpeakHoTT = SPEAK_CALIBRATE; |
||
970 | ShowSettingNameTime = 5; // for HoTT & Jeti |
||
971 | #endif |
||
972 | Piep(ActiveParamSet,120); |
||
973 | } |
||
974 | } |
||
975 | } |
||
976 | else |
||
977 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
||
978 | { |
||
979 | if(++delay_neutral > 200) // nicht sofort |
||
980 | { |
||
981 | MotorenEin = 0; |
||
982 | delay_neutral = 0; |
||
983 | modell_fliegt = 0; |
||
984 | CalibrationDone = SetNeutral(2); // store ACC values into EEPROM |
||
985 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
986 | if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
||
987 | else |
||
988 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
||
989 | else SpeakHoTT = SPEAK_CALIBRATE; |
||
990 | #endif |
||
991 | Piep(ActiveParamSet,120); |
||
992 | } |
||
993 | } |
||
994 | else delay_neutral = 0; |
||
995 | } |
||
996 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
997 | // Gas ist unten |
||
998 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
999 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < -100) |
||
1000 | { |
||
1001 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
||
1002 | else |
||
1003 | if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100; |
||
1004 | // Motoren Starten |
||
1005 | if(!MotorenEin) |
||
1006 | { |
||
1007 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
||
1008 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100))) |
||
1009 | { |
||
1010 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1011 | // Einschalten |
||
1012 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1013 | if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START; |
||
1014 | |||
1015 | StartLuftdruck = Luftdruck; |
||
1016 | HoehenWertF = 0; |
||
1017 | HoehenWert = 0; |
||
1018 | SummenHoehe = 0; |
||
1019 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -100 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 100) && EE_Parameter.MotorSafetySwitch == 0) delay_einschalten = 0; |
||
1020 | if(++delay_einschalten > 253) |
||
1021 | { |
||
1022 | if((abs(MesswertGier) > 32 || abs(MesswertNick) > 20) || abs(MesswertRoll) > 20) CalibrationDone = 0; // dann ist der Gyro defekt, schlecht kalibriert oder der MK dreht sich |
||
1023 | delay_einschalten = 0; |
||
1024 | if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode) |
||
1025 | { |
||
1026 | modell_fliegt = 1; |
||
1027 | MotorenEin = 1; |
||
1028 | sollGier = 0; |
||
1029 | Mess_Integral_Gier = 0; |
||
1030 | Mess_Integral_Gier2 = 0; |
||
1031 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
1032 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
1033 | Mess_IntegralNick2 = IntegralNick; |
||
1034 | Mess_IntegralRoll2 = IntegralRoll; |
||
1035 | SummeNick = 0; |
||
1036 | SummeRoll = 0; |
||
1037 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
||
1038 | NeueKompassRichtungMerken = 100; // 2 sekunden |
||
1039 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1040 | SpeakHoTT = SPEAK_STARTING; |
||
1041 | #endif |
||
1042 | } |
||
1043 | else |
||
1044 | { |
||
1045 | beeptime = 1500; // indicate missing calibration |
||
1046 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1047 | if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
||
1048 | #endif |
||
1049 | } |
||
1050 | } |
||
1051 | } |
||
1052 | else delay_einschalten = 0; |
||
1053 | } |
||
1054 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1055 | // Auschalten |
||
1056 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1057 | else // only if motors are running |
||
1058 | { |
||
1059 | // if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
||
1060 | if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
||
1061 | || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100))) |
||
1062 | { |
||
1063 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -100 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 100) && EE_Parameter.MotorSafetySwitch == 0) |
||
1064 | { |
||
1065 | delay_ausschalten = 0; |
||
1066 | } |
||
1067 | else |
||
1068 | { |
||
1069 | SummeNick = 0; |
||
1070 | SummeRoll = 0; |
||
1071 | StickNick = 0; |
||
1072 | StickRoll = 0; |
||
1073 | } |
||
1074 | if(++delay_ausschalten > 250) // nicht sofort |
||
1075 | { |
||
1076 | MotorenEin = 0; |
||
1077 | delay_ausschalten = 0; |
||
1078 | modell_fliegt = 0; |
||
1079 | FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
||
1080 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1081 | SpeakHoTT = SPEAK_MK_OFF; |
||
1082 | #endif |
||
1083 | } |
||
1084 | else |
||
1085 | if(delay_ausschalten == 100) beeptime = 3500; |
||
1086 | } |
||
1087 | else delay_ausschalten = 0; |
||
1088 | } |
||
1089 | if(GasIsZeroCnt < 1000) |
||
1090 | { |
||
1091 | if(VarioMeter > -150) GasIsZeroCnt++; |
||
1092 | else if(GasIsZeroCnt) GasIsZeroCnt--; |
||
1093 | } |
||
1094 | } |
||
1095 | else // gas not at minimum |
||
1096 | { |
||
1097 | move_safety_switch = 0; |
||
1098 | GasIsZeroCnt = 0; |
||
1099 | } |
||
1100 | } |
||
1101 | else // Empfang zwischen 100 und 140 -> schlecht |
||
1102 | { |
||
1103 | if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
||
1104 | { |
||
1105 | if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
||
1106 | { |
||
1107 | GasIsZeroCnt = 30000; |
||
1108 | if(modell_fliegt > 1001) modell_fliegt = 1001; |
||
1109 | } |
||
1110 | } |
||
1111 | } |
||
1112 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1113 | // neue Werte von der Funke |
||
1114 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1115 | |||
1116 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
||
1117 | { |
||
1118 | static int stick_nick,stick_roll; |
||
1119 | unsigned char stick_p; |
||
1120 | ParameterZuordnung(); |
||
1121 | stick_p = EE_Parameter.Stick_P; |
||
1122 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
||
1123 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
||
1124 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
||
1125 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
1126 | |||
1127 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1128 | // CareFree und freie Wahl der vorderen Richtung |
||
1129 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1130 | if(CareFree) |
||
1131 | { |
||
1132 | signed int nick, roll; |
||
1133 | nick = stick_nick / 4; |
||
1134 | roll = stick_roll / 4; |
||
1135 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
1136 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
1137 | } |
||
1138 | else |
||
1139 | { |
||
1140 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
||
1141 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
||
1142 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
||
1143 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
1144 | } |
||
1145 | |||
1146 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
||
1147 | if(StickGier > 4) StickGier -= 4; else |
||
1148 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
||
1149 | |||
1150 | if(GasIsZeroCnt > 512) // About to switch - off |
||
1151 | { |
||
1152 | StickNick = StickNick/8; |
||
1153 | StickRoll = StickRoll/8; |
||
1154 | SummeNick = 0; |
||
1155 | SummeRoll = 0; |
||
1156 | } |
||
1157 | else |
||
1158 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
||
1159 | { |
||
1160 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
||
1161 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
||
1162 | } |
||
1163 | StickNick -= GPS_Nick; |
||
1164 | StickRoll -= GPS_Roll; |
||
1165 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
||
1166 | |||
1167 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
||
1168 | IntegralFaktor = Parameter_Gyro_I; |
||
1169 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
||
1170 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
1171 | |||
1172 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1173 | //+ Analoge Steuerung per Seriell |
||
1174 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1175 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
||
1176 | { |
||
1177 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
1178 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
1179 | StickGier += ExternControl.Gier; |
||
1180 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
1181 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
1182 | } |
||
1183 | if(StickGas < 0) StickGas = 0; |
||
1184 | |||
1185 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
||
1186 | |||
1187 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
||
1188 | { |
||
1189 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
||
1190 | if(MaxStickNick > 100) MaxStickNick = 100; |
||
1191 | } |
||
1192 | else MaxStickNick--; |
||
1193 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
||
1194 | { |
||
1195 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
||
1196 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
||
1197 | } |
||
1198 | else MaxStickRoll--; |
||
1199 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
||
1200 | |||
1201 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1202 | // Looping? |
||
1203 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1204 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
||
1205 | else |
||
1206 | { |
||
1207 | { |
||
1208 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
||
1209 | } |
||
1210 | } |
||
1211 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
||
1212 | else |
||
1213 | { |
||
1214 | if(Looping_Rechts) // Hysterese |
||
1215 | { |
||
1216 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
1217 | } |
||
1218 | } |
||
1219 | |||
1220 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
||
1221 | else |
||
1222 | { |
||
1223 | if(Looping_Oben) // Hysterese |
||
1224 | { |
||
1225 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
||
1226 | } |
||
1227 | } |
||
1228 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
||
1229 | else |
||
1230 | { |
||
1231 | if(Looping_Unten) // Hysterese |
||
1232 | { |
||
1233 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
1234 | } |
||
1235 | } |
||
1236 | |||
1237 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
1238 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
||
1239 | } // Ende neue Funken-Werte |
||
1240 | |||
1241 | if(Looping_Roll || Looping_Nick) |
||
1242 | { |
||
1243 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
||
1244 | TrichterFlug = 1; |
||
1245 | } |
||
1246 | |||
1247 | |||
1248 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1249 | // Bei Empfangsausfall im Flug |
||
1250 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1251 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
||
1252 | { |
||
1253 | StickNick = -GPS_Nick; |
||
1254 | StickRoll = -GPS_Roll; |
||
1255 | StickGas = StickGasHover; |
||
1256 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
||
1257 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
||
1258 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
||
1259 | Parameter_HoehenSchalter = 200; // switch on |
||
1260 | } |
||
1261 | else |
||
1262 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
||
1263 | { |
||
1264 | StickGier = 0; |
||
1265 | StickNick = 0; |
||
1266 | StickRoll = 0; |
||
1267 | GyroFaktor = 90; |
||
1268 | IntegralFaktor = 120; |
||
1269 | GyroFaktorGier = 90; |
||
1270 | IntegralFaktorGier = 120; |
||
1271 | Looping_Roll = 0; |
||
1272 | Looping_Nick = 0; |
||
1273 | } |
||
1274 | |||
1275 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1276 | // Integrale auf ACC-Signal abgleichen |
||
1277 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1278 | #define ABGLEICH_ANZAHL 256L |
||
1279 | |||
1280 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
1281 | MittelIntegralRoll += IntegralRoll; |
||
1282 | MittelIntegralNick2 += IntegralNick2; |
||
1283 | MittelIntegralRoll2 += IntegralRoll2; |
||
1284 | |||
1285 | if(Looping_Nick || Looping_Roll) |
||
1286 | { |
||
1287 | IntegralAccNick = 0; |
||
1288 | IntegralAccRoll = 0; |
||
1289 | MittelIntegralNick = 0; |
||
1290 | MittelIntegralRoll = 0; |
||
1291 | MittelIntegralNick2 = 0; |
||
1292 | MittelIntegralRoll2 = 0; |
||
1293 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
1294 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
1295 | ZaehlMessungen = 0; |
||
1296 | LageKorrekturNick = 0; |
||
1297 | LageKorrekturRoll = 0; |
||
1298 | } |
||
1299 | |||
1300 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1301 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
||
1302 | { |
||
1303 | long tmp_long, tmp_long2; |
||
1304 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
||
1305 | { |
||
1306 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
||
1307 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
||
1308 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1309 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
1310 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1311 | { |
||
1312 | tmp_long /= 2; |
||
1313 | tmp_long2 /= 2; |
||
1314 | } |
||
1315 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1316 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1317 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1318 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
1319 | } |
||
1320 | else |
||
1321 | { |
||
1322 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
1323 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
1324 | tmp_long /= 16; |
||
1325 | tmp_long2 /= 16; |
||
1326 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
1327 | { |
||
1328 | tmp_long /= 3; |
||
1329 | tmp_long2 /= 3; |
||
1330 | } |
||
1331 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
1332 | { |
||
1333 | tmp_long /= 3; |
||
1334 | tmp_long2 /= 3; |
||
1335 | } |
||
1336 | KompassFusion = 25; |
||
1337 | #define AUSGLEICH 32 |
||
1338 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
||
1339 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
1340 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
1341 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
1342 | } |
||
1343 | |||
1344 | Mess_IntegralNick -= tmp_long; |
||
1345 | Mess_IntegralRoll -= tmp_long2; |
||
1346 | } |
||
1347 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1348 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
||
1349 | { |
||
1350 | static int cnt = 0; |
||
1351 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
1352 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
1353 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
||
1354 | { |
||
1355 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
||
1356 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
1357 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
1358 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
1359 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
1360 | #define MAX_I 0 |
||
1361 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1362 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
1363 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
1364 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1365 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
1366 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
||
1367 | |||
1368 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
1369 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
||
1370 | |||
1371 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
||
1372 | { |
||
1373 | LageKorrekturNick /= 2; |
||
1374 | LageKorrekturRoll /= 2; |
||
1375 | } |
||
1376 | |||
1377 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1378 | // Gyro-Drift ermitteln |
||
1379 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1380 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
||
1381 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
1382 | tmp_long = IntegralNick2 - IntegralNick; |
||
1383 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
1384 | |||
1385 | IntegralFehlerNick = tmp_long; |
||
1386 | IntegralFehlerRoll = tmp_long2; |
||
1387 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
1388 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
1389 | |||
1390 | if(EE_Parameter.Driftkomp) |
||
1391 | { |
||
1392 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
||
1393 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
1394 | } |
||
1395 | GierGyroFehler = 0; |
||
1396 | |||
1397 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
||
1398 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
1399 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
||
1400 | #define BEWEGUNGS_LIMIT 20000 |
||
1401 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1402 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
1403 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
||
1404 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
||
1405 | { |
||
1406 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
||
1407 | { |
||
1408 | if(last_n_p) |
||
1409 | { |
||
1410 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
||
1411 | ausgleichNick = IntegralFehlerNick / 8; |
||
1412 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
||
1413 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
||
1414 | } |
||
1415 | else last_n_p = 1; |
||
1416 | } else last_n_p = 0; |
||
1417 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
||
1418 | { |
||
1419 | if(last_n_n) |
||
1420 | { |
||
1421 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
||
1422 | ausgleichNick = IntegralFehlerNick / 8; |
||
1423 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
||
1424 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
||
1425 | } |
||
1426 | else last_n_n = 1; |
||
1427 | } else last_n_n = 0; |
||
1428 | } |
||
1429 | else |
||
1430 | { |
||
1431 | cnt = 0; |
||
1432 | KompassSignalSchlecht = 100; |
||
1433 | } |
||
1434 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
||
1435 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
||
1436 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
||
1437 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
1438 | |||
1439 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1440 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
||
1441 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
||
1442 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
||
1443 | { |
||
1444 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
||
1445 | { |
||
1446 | if(last_r_p) |
||
1447 | { |
||
1448 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
||
1449 | ausgleichRoll = IntegralFehlerRoll / 8; |
||
1450 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
||
1451 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
||
1452 | } |
||
1453 | else last_r_p = 1; |
||
1454 | } else last_r_p = 0; |
||
1455 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
||
1456 | { |
||
1457 | if(last_r_n) |
||
1458 | { |
||
1459 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
||
1460 | ausgleichRoll = IntegralFehlerRoll / 8; |
||
1461 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
||
1462 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
||
1463 | } |
||
1464 | else last_r_n = 1; |
||
1465 | } else last_r_n = 0; |
||
1466 | } else |
||
1467 | { |
||
1468 | cnt = 0; |
||
1469 | KompassSignalSchlecht = 100; |
||
1470 | } |
||
1471 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
||
1472 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
||
1473 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
||
1474 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
1475 | } |
||
1476 | else |
||
1477 | { |
||
1478 | LageKorrekturRoll = 0; |
||
1479 | LageKorrekturNick = 0; |
||
1480 | TrichterFlug = 0; |
||
1481 | } |
||
1482 | |||
1483 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
||
1484 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1485 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
1486 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
1487 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1488 | IntegralAccNick = 0; |
||
1489 | IntegralAccRoll = 0; |
||
1490 | IntegralAccZ = 0; |
||
1491 | MittelIntegralNick = 0; |
||
1492 | MittelIntegralRoll = 0; |
||
1493 | MittelIntegralNick2 = 0; |
||
1494 | MittelIntegralRoll2 = 0; |
||
1495 | ZaehlMessungen = 0; |
||
1496 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
||
1497 | |||
1498 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1499 | // Gieren |
||
1500 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1501 | if(abs(StickGier) > 3) // war 15 |
||
1502 | { |
||
1503 | // KompassSignalSchlecht = 1000; |
||
1504 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
||
1505 | { |
||
1506 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
||
1507 | }; |
||
1508 | } |
||
1509 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
||
1510 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
||
1511 | if(GasIsZeroCnt > 512) tmp_int = 0; // disable Yawing when Gas-Stick is to Zero |
||
1512 | tmp_int += CompassGierSetpoint; |
||
1513 | sollGier = tmp_int; |
||
1514 | Mess_Integral_Gier -= tmp_int; |
||
1515 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
||
1516 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
1517 | |||
1518 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1519 | // Kompass |
||
1520 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1521 | if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
||
1522 | { |
||
1523 | if(CalculateCompassTimer-- == 1) |
||
1524 | { |
||
1525 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
||
1526 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
||
1527 | // max. Korrekturwert schätzen |
||
1528 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
||
1529 | v = abs(IntegralRoll /512); |
||
1530 | if(v > w) w = v; // grösste Neigung ermitteln |
||
1531 | // korrektur = w / 4 + 1; |
||
1532 | korrektur = w / 8 + 2; |
||
1533 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
||
1534 | // Kompassfehlerwert bestimmen |
||
1535 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
||
1536 | // GIER_GRAD_FAKTOR ist ca. 1200 |
||
1537 | // Kompasswert einloggen |
||
1538 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
1539 | else |
||
1540 | if(w < 25) |
||
1541 | { |
||
1542 | GierGyroFehler += fehler; |
||
1543 | if(NeueKompassRichtungMerken) |
||
1544 | { |
||
1545 | if(--NeueKompassRichtungMerken == 0) |
||
1546 | { |
||
1547 | KompassSollWert = ErsatzKompassInGrad; |
||
1548 | } |
||
1549 | } |
||
1550 | } |
||
1551 | // Kompass fusionieren |
||
1552 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
||
1553 | // MK Gieren |
||
1554 | if(!NeueKompassRichtungMerken) |
||
1555 | { |
||
1556 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
||
1557 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
||
1558 | CompassGierSetpoint = v / 16; |
||
1559 | } |
||
1560 | else CompassGierSetpoint = 0; |
||
1561 | } // CalculateCompassTimer |
||
1562 | } |
||
1563 | else CompassGierSetpoint = 0; |
||
1564 | |||
1565 | //DebugOut.Analog[16] = KompassFusion; |
||
1566 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1567 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
||
1568 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1569 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
||
1570 | |||
1571 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
||
1572 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
1573 | |||
1574 | #define TRIM_MAX 200 |
||
1575 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
||
1576 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
1577 | |||
1578 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
||
1579 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
1580 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
||
1581 | |||
1582 | // Maximalwerte abfangen |
||
1583 | #define MAX_SENSOR (4096) |
||
1584 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
||
1585 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
||
1586 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
1587 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
1588 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
1589 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
1590 | |||
1591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1592 | // Undervoltage |
||
1593 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1594 | if(!(FC_StatusFlags & FC_STATUS_LOWBAT)) |
||
1595 | { |
||
1596 | GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
||
1597 | } |
||
1598 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1599 | // Auto-Landing |
||
1600 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1601 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1602 | static unsigned char slower; |
||
1603 | if(!slower--) |
||
1604 | { |
||
1605 | static unsigned int u_filter = 0; |
||
1606 | if(!u_filter) u_filter = UBat; |
||
1607 | if(UBat > u_filter) u_filter++; else |
||
1608 | if(UBat < u_filter) u_filter--; |
||
1609 | slower = 100; // 5Hz |
||
1610 | // if(FromNC_AltitudeSetpoint >= 0) hysteresis *= 2; |
||
1611 | if(u_filter < EE_Parameter.AutoLandingVoltage) |
||
1612 | { |
||
1613 | LowVoltageLandingActive = 10; // 2 sek |
||
1614 | } |
||
1615 | else if(u_filter > EE_Parameter.AutoLandingVoltage + LipoCells && LowVoltageLandingActive) LowVoltageLandingActive--; |
||
1616 | } |
||
1617 | if(LowVoltageLandingActive && FromNC_AltitudeSetpoint >= 0) |
||
1618 | { |
||
1619 | FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
||
1620 | FromNC_AltitudeSetpoint = -20000; |
||
1621 | } |
||
1622 | #endif |
||
1623 | //DebugOut.Analog[16] = StickGasMiddle; |
||
1624 | if(BytegapSPI == 0) SPI_TransmitByte(); |
||
1625 | |||
1626 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1627 | // Höhenregelung |
||
1628 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
1629 | GasMischanteil *= STICK_GAIN; |
||
1630 | // if height control is activated |
||
1631 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick) && !(VersionInfo.HardwareError[0] & 0x7F)) // Höhenregelung |
||
1632 | { |
||
1633 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
||
1634 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
||
1635 | |||
1636 | int HCGas, GasReduction = 0; |
||
1637 | static int HeightTrimming = 0; // rate for change of height setpoint |
||
1638 | static int HeightDeviation = 0, FilterHCGas = 0; |
||
1639 | static unsigned long HoverGasFilter = 0; |
||
1640 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
||
1641 | // Expand the measurement |
||
1642 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
1643 | if(!BaroExpandActive) |
||
1644 | { |
||
1645 | if(MessLuftdruck > 920) |
||
1646 | { // increase offset |
||
1647 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
||
1648 | { |
||
1649 | ExpandBaro -= 1; |
||
1650 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
1651 | OCR0B = 255 - OCR0A; |
||
1652 | beeptime = 300; |
||
1653 | BaroExpandActive = 350; |
||
1654 | CalcExpandBaroStep(); |
||
1655 | } |
||
1656 | else |
||
1657 | { |
||
1658 | BaroAtLowerLimit = 1; |
||
1659 | } |
||
1660 | } |
||
1661 | // measurement of air pressure close to lower limit and |
||
1662 | else |
||
1663 | if(MessLuftdruck < 100) |
||
1664 | { // decrease offset |
||
1665 | if(OCR0A > OPA_OFFSET_STEP) |
||
1666 | { |
||
1667 | ExpandBaro += 1; |
||
1668 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
1669 | OCR0B = 255 - OCR0A; |
||
1670 | beeptime = 300; |
||
1671 | BaroExpandActive = 350; |
||
1672 | CalcExpandBaroStep(); |
||
1673 | } |
||
1674 | else |
||
1675 | { |
||
1676 | BaroAtUpperLimit = 1; |
||
1677 | } |
||
1678 | } |
||
1679 | else |
||
1680 | { |
||
1681 | BaroAtUpperLimit = 0; |
||
1682 | BaroAtLowerLimit = 0; |
||
1683 | } |
||
1684 | } |
||
1685 | else // delay, because of expanding the Baro-Range |
||
1686 | { |
||
1687 | // now clear the D-values |
||
1688 | VarioMeter = 0; |
||
1689 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1690 | if(ACC_AltitudeControl) ACC_AltitudeFusion(1); // init |
||
1691 | else SummenHoehe = HoehenWert * SM_FILTER; |
||
1692 | #else |
||
1693 | SummenHoehe = HoehenWert * SM_FILTER; |
||
1694 | #endif |
||
1695 | BaroExpandActive--; |
||
1696 | } |
||
1697 | // if height control is activated by an rc channel |
||
1698 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
1699 | { // check if parameter is less than activation threshold |
||
1700 | if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
1701 | { //height control not active |
||
1702 | if(!delay--) |
||
1703 | { |
||
1704 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1705 | if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
||
1706 | #endif |
||
1707 | HoehenReglerAktiv = 0; // disable height control |
||
1708 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
1709 | delay = 1; |
||
1710 | } |
||
1711 | } |
||
1712 | else |
||
1713 | if(Parameter_HoehenSchalter > 70) |
||
1714 | { //height control is activated |
||
1715 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1716 | if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON; |
||
1717 | #endif |
||
1718 | delay = 200; |
||
1719 | HoehenReglerAktiv = 1; // enable height control |
||
1720 | } |
||
1721 | } |
||
1722 | else // no switchable height control |
||
1723 | { |
||
1724 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
1725 | HoehenReglerAktiv = 1; |
||
1726 | } |
||
1727 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
||
1728 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
||
1729 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
1730 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
1731 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
||
1732 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
1733 | VarioCharacter = ' '; |
||
1734 | AltitudeSetpointTrimming = 0; |
||
1735 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
||
1736 | { |
||
1737 | // Holger original version |
||
1738 | // start of height control algorithm |
||
1739 | // the height control is only an attenuation of the actual gas stick. |
||
1740 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
1741 | // and the hover height will be allways larger than height setpoint. |
||
1742 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
||
1743 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
||
1744 | { // old version |
||
1745 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
||
1746 | HeightTrimming = 0; |
||
1747 | AltitudeSetpointTrimming = 0; |
||
1748 | // set both flags to indicate no vario mode |
||
1749 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1750 | } |
||
1751 | else |
||
1752 | { |
||
1753 | // alternative height control |
||
1754 | // PD-Control with respect to hoover point |
||
1755 | // the thrust loss out of horizontal attitude is compensated |
||
1756 | // the setpoint will be fine adjusted with the gas stick position |
||
1757 | if(/*1 || */FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
||
1758 | { // gas stick is above hoover point |
||
1759 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
||
1760 | { |
||
1761 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
||
1762 | { |
||
1763 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
||
1764 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
||
1765 | } |
||
1766 | // Limit the maximum Altitude |
||
1767 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) |
||
1768 | { |
||
1769 | AltitudeSetpointTrimming = 0; |
||
1770 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1771 | if(!SpeakHoTT && HoehenWert/95 > Parameter_MaximumAltitude) SpeakHoTT = SPEAK_MAX_ALTITUD; |
||
1772 | #endif |
||
1773 | VarioCharacter = '='; |
||
1774 | } |
||
1775 | else |
||
1776 | { |
||
1777 | if(HeightDeviation > 20) SollHoehe = HoehenWertF; // update setpoint to current heigth |
||
1778 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1779 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
1780 | if(LowVoltageLandingActive) AltitudeSetpointTrimming /= 3; // only 33% rising |
||
1781 | VarioCharacter = '+'; |
||
1782 | } |
||
1783 | WaypointTrimming = 0; |
||
1784 | } // gas stick is below hoover point |
||
1785 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) // Minus |
||
1786 | { |
||
1787 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
||
1788 | { |
||
1789 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
||
1790 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
||
1791 | } |
||
1792 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
1793 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
1794 | VarioCharacter = '-'; |
||
1795 | WaypointTrimming = 0; |
||
1796 | } |
||
1797 | else // Gas Stick in Hover Range |
||
1798 | { |
||
1799 | VarioCharacter = '='; |
||
1800 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
||
1801 | { |
||
1802 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
1803 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
||
1804 | //HeightTrimming += FromNC_AltitudeSpeed; |
||
1805 | WaypointTrimming = 10; |
||
1806 | VarioCharacter = '^'; |
||
1807 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
||
1808 | { |
||
1809 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
||
1810 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
||
1811 | } |
||
1812 | } |
||
1813 | else |
||
1814 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
||
1815 | { |
||
1816 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
1817 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
||
1818 | //HeightTrimming -= FromNC_AltitudeSpeed; |
||
1819 | WaypointTrimming = -10; |
||
1820 | VarioCharacter = 'v'; |
||
1821 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
||
1822 | { |
||
1823 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
||
1824 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
||
1825 | } |
||
1826 | } |
||
1827 | else |
||
1828 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
||
1829 | { |
||
1830 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-200), (HoehenWertF+200)) // max. 2m Unterschied |
||
1831 | else WaypointTrimming = 0; |
||
1832 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
1833 | HeightTrimming = 0; |
||
1834 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
1835 | if(!StartTrigger && HoehenWert > 50) |
||
1836 | { |
||
1837 | StartTrigger = 1; |
||
1838 | } |
||
1839 | } |
||
1840 | } |
||
1841 | // Trim height set point |
||
1842 | HeightTrimming += AltitudeSetpointTrimming; |
||
1843 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
||
1844 | { |
||
1845 | if(WaypointTrimming) |
||
1846 | { |
||
1847 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
||
1848 | else SollHoehe += WaypointTrimming; |
||
1849 | } |
||
1850 | else |
||
1851 | { |
||
1852 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1853 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
||
1854 | } |
||
1855 | HeightTrimming = 0; |
||
1856 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
||
1857 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
||
1858 | //update hoover gas stick value when setpoint is shifted |
||
1859 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
||
1860 | { |
||
1861 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
||
1862 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
1863 | if(StickGasHover < 70) StickGasHover = 70; |
||
1864 | else if(StickGasHover > 150) StickGasHover = 150; |
||
1865 | } |
||
1866 | } |
||
1867 | if(BaroExpandActive) SollHoehe = HoehenWertF; // update setpoint to current altitude if Expanding is active |
||
1868 | } //if FCFlags & MKFCFLAG_FLY |
||
1869 | else |
||
1870 | { |
||
1871 | SollHoehe = HoehenWert - 400; |
||
1872 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
||
1873 | else StickGasHover = 120; |
||
1874 | HoverGas = GasMischanteil; |
||
1875 | VarioCharacter = '.'; |
||
1876 | } |
||
1877 | HCGas = HoverGas; // take hover gas (neutral point) |
||
1878 | } |
||
1879 | if(HoehenWertF > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
||
1880 | { |
||
1881 | if(!ACC_AltitudeControl) |
||
1882 | { |
||
1883 | // from this point the Heigth Control Algorithm is identical for both versions |
||
1884 | if(BaroExpandActive) // baro range expanding active |
||
1885 | { |
||
1886 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1887 | HeightDeviation = 0; |
||
1888 | } // EOF // baro range expanding active |
||
1889 | else // valid data from air pressure sensor |
||
1890 | { |
||
1891 | // ------------------------- P-Part ---------------------------- |
||
1892 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
||
1893 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1894 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1895 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
||
1896 | LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
||
1897 | GasReduction = tmp_long; |
||
1898 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
||
1899 | tmp_int = VarioMeter / 8; |
||
1900 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
||
1901 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
||
1902 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
1903 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
||
1904 | else |
||
1905 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
||
1906 | GasReduction += tmp_int; |
||
1907 | } // EOF no baro range expanding |
||
1908 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
||
1909 | if(Parameter_Hoehe_ACC_Wirkung) |
||
1910 | { |
||
1911 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
1912 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1913 | GasReduction += tmp_long; |
||
1914 | } |
||
1915 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
||
1916 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
||
1917 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
1918 | GasReduction += tmp_int; |
||
1919 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
||
1920 | |||
1921 | // ------------------------ ---------------------------------- |
||
1922 | HCGas -= GasReduction; |
||
1923 | // limit deviation from hoover point within the target region |
||
1924 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
||
1925 | { |
||
1926 | unsigned int tmp; |
||
1927 | tmp = abs(HeightDeviation); |
||
1928 | if(tmp <= 60) |
||
1929 | { |
||
1930 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
1931 | } |
||
1932 | else |
||
1933 | { |
||
1934 | tmp = (tmp - 60) / 32; |
||
1935 | if(tmp > 15) tmp = 15; |
||
1936 | if(HeightDeviation > 0) |
||
1937 | { |
||
1938 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
||
1939 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
1940 | } |
||
1941 | else |
||
1942 | { |
||
1943 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
1944 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
1945 | } |
||
1946 | } |
||
1947 | } |
||
1948 | // strech control output by inverse attitude projection 1/cos |
||
1949 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
1950 | tmp_long2 = (int32_t)HCGas; |
||
1951 | tmp_long2 *= 8192L; |
||
1952 | tmp_long2 /= CosAttitude; |
||
1953 | HCGas = (int16_t)tmp_long2; |
||
1954 | // update height control gas averaging |
||
1955 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
1956 | // limit height control gas pd-control output |
||
1957 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
1958 | // set GasMischanteil to HeightControlGasFilter |
||
1959 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
||
1960 | { // old version |
||
1961 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
1962 | GasMischanteil = FilterHCGas; |
||
1963 | } |
||
1964 | else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
||
1965 | } |
||
1966 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
1967 | else // ACC-Altitude control |
||
1968 | { |
||
1969 | // from this point the Heigth Control Algorithm is identical for both versions |
||
1970 | if(BaroExpandActive) // baro range expanding active |
||
1971 | { |
||
1972 | HCGas = HoverGas; // hover while expanding baro adc range |
||
1973 | HeightDeviation = 0; |
||
1974 | } // EOF // baro range expanding active |
||
1975 | else // valid data from air pressure sensor |
||
1976 | { |
||
1977 | // ------------------------- P-Part ---------------------------- |
||
1978 | tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
||
1979 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
1980 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
1981 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
||
1982 | LIMIT_MIN_MAX(tmp_long, -511 * STICK_GAIN, 512 * STICK_GAIN); // more than full range makes sense |
||
1983 | GasReduction = tmp_long; |
||
1984 | // ------------------------ D-Part: ACC-Z Integral ------------------------ |
||
1985 | tmp_long = VarioMeter + (AdWertAccHoch * Parameter_Hoehe_ACC_Wirkung)/256; |
||
1986 | // ------------------------- D-Part: Vario Meter ---------------------------- |
||
1987 | if(WaypointTrimming) { |
||
1988 | Variance = AltitudeSetpointTrimming * 8; |
||
1989 | } else { |
||
1990 | Variance = AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung*9/32; |
||
1991 | } |
||
1992 | tmp_long -= (long)Variance; |
||
1993 | tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 32; // scale to d-gain parameter |
||
1994 | LIMIT_MIN_MAX(tmp_long,-511 * STICK_GAIN, 512 * STICK_GAIN); |
||
1995 | GasReduction += tmp_long; |
||
1996 | } // EOF no baro range expanding |
||
1997 | HCGas -= GasReduction; |
||
1998 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limits gas around hover point |
||
1999 | // strech control output by inverse attitude projection 1/cos |
||
2000 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
2001 | tmp_long2 = (int32_t)HCGas; |
||
2002 | tmp_long2 *= 8192L; |
||
2003 | tmp_long2 /= CosAttitude; |
||
2004 | HCGas = (int16_t)tmp_long2; |
||
2005 | // update height control gas averaging |
||
2006 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
2007 | // limit height control gas pd-control output |
||
2008 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
2009 | // set GasMischanteil to HeightControlGasFilter |
||
2010 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
||
2011 | { // old version |
||
2012 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
2013 | GasMischanteil = FilterHCGas; |
||
2014 | } |
||
2015 | else GasMischanteil = FilterHCGas; |
||
2016 | } // end of ACC-Altitude control |
||
2017 | #endif |
||
2018 | } |
||
2019 | }// EOF height control active |
||
2020 | else // HC not active |
||
2021 | { |
||
2022 | //update hoover gas stick value when HC is not active |
||
2023 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
||
2024 | { |
||
2025 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
2026 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
2027 | } |
||
2028 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
||
2029 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
2030 | FilterHCGas = GasMischanteil; |
||
2031 | // set both flags to indicate no vario mode |
||
2032 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
2033 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
||
2034 | } |
||
2035 | // Hover gas estimation by averaging gas control output on small z-velocities |
||
2036 | // this is done only if height contol option is selected in global config and aircraft is flying |
||
2037 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
||
2038 | { |
||
2039 | //if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
||
2040 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(HoverGas); // 0.90f: geändert |
||
2041 | if(StartTrigger == 1) StartTrigger = 2; |
||
2042 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
||
2043 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
2044 | tmp_long2 /= 8192; |
||
2045 | // average vertical projected thrust |
||
2046 | if(modell_fliegt < 4000) // the first 8 seconds |
||
2047 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
2048 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
2049 | HoverGasFilter += 16L * tmp_long2; |
||
2050 | } |
||
2051 | if(modell_fliegt < 8000) // the first 16 seconds |
||
2052 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
2053 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
||
2054 | HoverGasFilter += 4L * tmp_long2; |
||
2055 | } |
||
2056 | else //later |
||
2057 | if(abs(VarioMeter) < 100 && abs(HoehenWertF - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
||
2058 | { |
||
2059 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
||
2060 | HoverGasFilter += tmp_long2; |
||
2061 | } |
||
2062 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
||
2063 | if(EE_Parameter.Hoehe_HoverBand) |
||
2064 | { |
||
2065 | int16_t band; |
||
2066 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
||
2067 | HoverGasMin = HoverGas - band; |
||
2068 | HoverGasMax = HoverGas + band; |
||
2069 | } |
||
2070 | else |
||
2071 | { // no limit |
||
2072 | HoverGasMin = 0; |
||
2073 | HoverGasMax = 1023; |
||
2074 | } |
||
2075 | } |
||
2076 | else |
||
2077 | { |
||
2078 | StartTrigger = 0; |
||
2079 | HoverGasFilter = 0; |
||
2080 | HoverGas = 0; |
||
2081 | } |
||
2082 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
||
2083 | else |
||
2084 | { |
||
2085 | // set undefined state to indicate vario off |
||
2086 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
2087 | } // EOF no height control |
||
2088 | |||
2089 | // Limits the maximum gas in case of "Out of Range emergency landing" |
||
2090 | if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
||
2091 | { |
||
2092 | if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
||
2093 | SollHoehe = HoehenWertF; // update setpoint to current heigth |
||
2094 | beeptime = 15000; |
||
2095 | BeepMuster = 0x0E00; |
||
2096 | } |
||
2097 | // limit gas to parameter setting |
||
2098 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
||
2099 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
||
2100 | |||
2101 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2102 | // all BL-Ctrl connected? |
||
2103 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2104 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
||
2105 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
||
2106 | { |
||
2107 | modell_fliegt = 1; |
||
2108 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
||
2109 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
2110 | if(Capacity.MinOfMaxPWM < 40) SpeakHoTT = SPEAK_ERR_MOTOR; |
||
2111 | #endif |
||
2112 | } |
||
2113 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2114 | // + Mischer und PI-Regler |
||
2115 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2116 | DebugOut.Analog[7] = GasMischanteil; |
||
2117 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2118 | // Gier-Anteil |
||
2119 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2120 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
||
2121 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
2122 | if(GasMischanteil > MIN_GIERGAS) |
||
2123 | { |
||
2124 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
||
2125 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
2126 | } |
||
2127 | else |
||
2128 | { |
||
2129 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
||
2130 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
2131 | } |
||
2132 | tmp_int = MAX_GAS*STICK_GAIN; |
||
2133 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
||
2134 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
||
2135 | |||
2136 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2137 | // Nick-Achse |
||
2138 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2139 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
||
2140 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
||
2141 | else SummeNick += DiffNick; // I-Anteil bei HH |
||
2142 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
||
2143 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
2144 | |||
2145 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
2146 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
2147 | pd_ergebnis_nick += SummeNick / Ki; |
||
2148 | |||
2149 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
2150 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
||
2151 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
2152 | |||
2153 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2154 | // Roll-Achse |
||
2155 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2156 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
2157 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
2158 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
2159 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
2160 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
2161 | |||
2162 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
2163 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
2164 | pd_ergebnis_roll += SummeRoll / Ki; |
||
2165 | |||
2166 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
2167 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
||
2168 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
2169 | |||
2170 | if(BytegapSPI == 0) SPI_TransmitByte(); |
||
2171 | |||
2172 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2173 | // Universal Mixer |
||
2174 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
2175 | for(i=0; i<MAX_MOTORS; i++) |
||
2176 | { |
||
2177 | signed int tmp_int; |
||
2178 | if(Mixer.Motor[i][0] > 0) |
||
2179 | { |
||
2180 | // Gas |
||
2181 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
||
2182 | // Nick |
||
2183 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
2184 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
2185 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
2186 | // Roll |
||
2187 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
2188 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
2189 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
2190 | // Gier |
||
2191 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
||
2192 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
2193 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
2194 | |||
2195 | if(Motor[i].Version & MOTOR_STATE_FAST_MODE || tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // Beschleunigen |
||
2196 | else |
||
2197 | { // BL-Ctrl 1.0 or 2.0 |
||
2198 | if(EE_Parameter.MotorSmooth == 0) |
||
2199 | { |
||
2200 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
||
2201 | } |
||
2202 | else // 1 means tmp_int = tmp_int; |
||
2203 | if(EE_Parameter.MotorSmooth > 1) |
||
2204 | { |
||
2205 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
||
2206 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int) / EE_Parameter.MotorSmooth); |
||
2207 | } |
||
2208 | } |
||
2209 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
||
2210 | Motor[i].SetPoint = tmp_int / 4; |
||
2211 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
||
2212 | tmp_motorwert[i] = tmp_int; |
||
2213 | } |
||
2214 | else |
||
2215 | { |
||
2216 | Motor[i].SetPoint = 0; |
||
2217 | Motor[i].SetPointLowerBits = 0; |
||
2218 | } |
||
2219 | } |
||
2220 | } |
||
2221 | //DebugOut.Analog[16] |