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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | /*####################################################################################### |
| 2 | Flight Control |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 5 | // + Copyright (c) 04.2007 Holger Buss |
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| 6 | // + Nur für den privaten Gebrauch |
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| 7 | // + www.MikroKopter.com |
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| 8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 683 | killagreg | 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 14 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 683 | killagreg | 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 21 | // + eindeutig als Ursprung verlinkt werden |
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| 22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 24 | // + Benutzung auf eigene Gefahr |
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| 25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 683 | killagreg | 27 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 28 | // + mit unserer Zustimmung zulässig |
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 683 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 1 | ingob | 33 | // + this list of conditions and the following disclaimer. |
| 34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 35 | // + from this software without specific prior written permission. |
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| 683 | killagreg | 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 1 | ingob | 37 | // + for non-commercial use (directly or indirectly) |
| 683 | killagreg | 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1 | ingob | 39 | // + with our written permission |
| 683 | killagreg | 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 41 | // + clearly linked as origin |
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| 1 | ingob | 42 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| 43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 492 | hbuss | 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| 1 | ingob | 51 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 683 | killagreg | 52 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 53 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 687 | killagreg | 54 | #include <stdlib.h> |
| 55 | #include <avr/io.h> |
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| 1 | ingob | 56 | |
| 57 | #include "main.h" |
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| 685 | killagreg | 58 | #include "eeprom.h" |
| 59 | #include "timer0.h" |
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| 60 | #include "_Settings.h" |
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| 61 | #include "analog.h" |
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| 62 | #include "fc.h" |
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| 63 | #include "gps.h" |
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| 64 | #include "uart.h" |
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| 65 | #include "rc.h" |
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| 66 | #include "twimaster.h" |
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| 694 | killagreg | 67 | #include "mm3.h" |
| 1 | ingob | 68 | |
| 703 | killagreg | 69 | |
| 173 | holgerb | 70 | volatile unsigned int I2CTimeout = 100; |
| 703 | killagreg | 71 | // gyro readings |
| 72 | volatile int16_t ReadingPitch, ReadingRoll, ReadingYaw; |
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| 73 | // gyro neutral readings |
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| 74 | volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
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| 75 | volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
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| 76 | // mean accelerations |
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| 77 | volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
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| 78 | |||
| 79 | // neutral acceleration readings |
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| 80 | volatile int16_t NeutralAccX=0, NeutralAccY=0; |
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| 1 | ingob | 81 | volatile float NeutralAccZ = 0; |
| 82 | |||
| 703 | killagreg | 83 | // attitude gyro integrals |
| 84 | volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
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| 85 | volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
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| 86 | volatile int32_t IntegralYaw = 0; |
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| 87 | volatile int32_t Reading_IntegralPitch = 0, Reading_IntegralPitch2 = 0; |
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| 88 | volatile int32_t Reading_IntegralRoll = 0, Reading_IntegralRoll2 = 0; |
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| 89 | volatile int32_t Reading_IntegralYaw = 0, Reading_IntegralYaw2 = 0; |
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| 90 | volatile int32_t MeanIntegralPitch, MeanIntegralPitch2; |
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| 91 | volatile int32_t MeanIntegralRoll, MeanIntegralRoll2; |
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| 92 | |||
| 93 | // attitude acceleration integrals |
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| 94 | volatile int32_t IntegralAccPitch = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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| 95 | volatile int32_t Reading_Integral_Top = 0; |
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| 96 | |||
| 97 | // compass course |
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| 98 | volatile int16_t CompassHeading = 0; |
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| 99 | volatile int16_t CompassCourse = 0; |
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| 100 | volatile int16_t CompassOffCourse = 0; |
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| 101 | |||
| 102 | // flags |
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| 103 | uint8_t EmergencyLanding = 0; |
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| 104 | uint8_t HightControlActive = 0; |
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| 105 | uint8_t MotorsOn = 0; |
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| 106 | |||
| 107 | int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
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| 108 | |||
| 701 | killagreg | 109 | float GyroFactor; |
| 110 | float IntegralFactor; |
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| 703 | killagreg | 111 | |
| 112 | volatile int16_t DiffPitch, DiffRoll; |
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| 113 | |||
| 114 | int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
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| 115 | |||
| 116 | // setpoints for motors |
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| 117 | volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
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| 118 | |||
| 119 | // stick values derived by rc channels readings |
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| 701 | killagreg | 120 | int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickGas = 0; |
| 703 | killagreg | 121 | // stick values derived by uart inputs |
| 122 | int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHightValue = -20; |
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| 1 | ingob | 123 | |
| 701 | killagreg | 124 | int MaxStickPitch = 0, MaxStickRoll = 0; |
| 1 | ingob | 125 | |
| 703 | killagreg | 126 | |
| 127 | int16_t ReadingHight = 0; |
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| 128 | int16_t SetPointHight = 0; |
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| 129 | |||
| 130 | int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
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| 131 | |||
| 132 | float Ki = FACTOR_I; |
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| 133 | |||
| 134 | uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
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| 135 | uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
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| 136 | |||
| 137 | |||
| 138 | fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100}; |
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| 139 | |||
| 140 | |||
| 141 | /************************************************************************/ |
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| 142 | /* Creates numbeeps beeps at the speaker */ |
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| 143 | /************************************************************************/ |
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| 144 | void Beep(uint8_t numbeeps) |
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| 1 | ingob | 145 | { |
| 703 | killagreg | 146 | while(numbeeps--) |
| 147 | { |
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| 148 | if(MotorsOn) return; //auf keinen Fall im Flug! |
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| 149 | BeepTime = 100; // 0.1 second |
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| 150 | Delay_ms(250); // blocks 250 ms as pause to next beep, |
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| 151 | // this will block the flight control loop, |
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| 152 | // therefore do not use this funktion if motors are running |
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| 153 | } |
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| 1 | ingob | 154 | } |
| 155 | |||
| 703 | killagreg | 156 | /************************************************************************/ |
| 157 | /* Neutral Readings */ |
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| 158 | /************************************************************************/ |
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| 1 | ingob | 159 | void SetNeutral(void) |
| 160 | { |
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| 683 | killagreg | 161 | NeutralAccX = 0; |
| 1 | ingob | 162 | NeutralAccY = 0; |
| 163 | NeutralAccZ = 0; |
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| 701 | killagreg | 164 | AdNeutralPitch = 0; |
| 683 | killagreg | 165 | AdNeutralRoll = 0; |
| 701 | killagreg | 166 | AdNeutralYaw = 0; |
| 703 | killagreg | 167 | FCParam.AchsKopplung1 = 0; |
| 168 | FCParam.AchsGegenKopplung1 = 0; |
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| 701 | killagreg | 169 | CalibMean(); |
| 395 | hbuss | 170 | Delay_ms_Mess(100); |
| 701 | killagreg | 171 | CalibMean(); |
| 703 | killagreg | 172 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Hight Control activated? |
| 173 | { |
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| 174 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
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| 175 | } |
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| 176 | AdNeutralPitch = AdValueGyrPitch; |
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| 177 | AdNeutralRoll = AdValueGyrRoll; |
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| 178 | AdNeutralYaw = AdValueGyrYaw; |
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| 179 | StartNeutralRoll = AdNeutralRoll; |
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| 180 | StartNeutralPitch = AdNeutralPitch; |
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| 701 | killagreg | 181 | if(GetParamByte(PID_ACC_PITCH) > 4) |
| 513 | hbuss | 182 | { |
| 703 | killagreg | 183 | NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
| 184 | NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
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| 185 | NeutralAccZ = Current_AccZ; |
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| 513 | hbuss | 186 | } |
| 683 | killagreg | 187 | else |
| 703 | killagreg | 188 | { |
| 189 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
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| 190 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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| 191 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
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| 513 | hbuss | 192 | } |
| 701 | killagreg | 193 | Reading_IntegralPitch = 0; |
| 194 | Reading_IntegralPitch2 = 0; |
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| 195 | Reading_IntegralRoll = 0; |
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| 196 | Reading_IntegralRoll2 = 0; |
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| 703 | killagreg | 197 | Reading_IntegralYaw = 0; |
| 701 | killagreg | 198 | ReadingPitch = 0; |
| 199 | ReadingRoll = 0; |
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| 200 | ReadingYaw = 0; |
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| 201 | StartAirPressure = AirPressure; |
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| 703 | killagreg | 202 | HightD = 0; |
| 701 | killagreg | 203 | Reading_Integral_Top = 0; |
| 204 | CompassCourse = CompassHeading; |
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| 1 | ingob | 205 | GPS_Neutral(); |
| 683 | killagreg | 206 | BeepTime = 50; |
| 703 | killagreg | 207 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| 208 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
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| 701 | killagreg | 209 | ExternHightValue = 0; |
| 1 | ingob | 210 | } |
| 211 | |||
| 703 | killagreg | 212 | /************************************************************************/ |
| 213 | /* Averaging Measurement Readings */ |
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| 214 | /************************************************************************/ |
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| 701 | killagreg | 215 | void Mean(void) |
| 683 | killagreg | 216 | { |
| 701 | killagreg | 217 | static int32_t tmpl,tmpl2; |
| 401 | hbuss | 218 | |
| 703 | killagreg | 219 | // Get offset corrected gyro readings |
| 220 | ReadingYaw = AdNeutralYaw - AdValueGyrYaw; |
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| 221 | ReadingRoll = AdValueGyrRoll - AdNeutralRoll; |
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| 222 | ReadingPitch = AdValueGyrPitch - AdNeutralPitch; |
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| 604 | hbuss | 223 | |
| 703 | killagreg | 224 | DebugOut.Analog[26] = ReadingPitch; |
| 225 | DebugOut.Analog[28] = ReadingRoll; |
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| 226 | |||
| 227 | // Acceleration Sensor |
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| 228 | Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
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| 229 | Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
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| 230 | Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
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| 231 | |||
| 701 | killagreg | 232 | IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
| 703 | killagreg | 233 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
| 234 | IntegralAccZ += Current_AccZ - NeutralAccZ; |
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| 235 | |||
| 236 | // Yaw |
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| 237 | Reading_IntegralYaw += ReadingYaw; |
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| 238 | Reading_IntegralYaw2 += ReadingYaw; |
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| 239 | |||
| 240 | // Coupling fraction |
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| 241 | if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
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| 242 | { |
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| 243 | tmpl = Reading_IntegralPitch / 4096L; |
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| 244 | tmpl *= ReadingYaw; |
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| 245 | tmpl *= FCParam.AchsKopplung1; //125 |
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| 246 | tmpl /= 2048L; |
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| 247 | tmpl2 = Reading_IntegralRoll / 4096L; |
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| 248 | tmpl2 *= ReadingYaw; |
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| 249 | tmpl2 *= FCParam.AchsKopplung1; |
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| 250 | tmpl2 /= 2048L; |
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| 251 | } |
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| 252 | else tmpl = tmpl2 = 0; |
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| 253 | // Roll |
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| 254 | ReadingRoll += tmpl; |
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| 255 | ReadingRoll += (tmpl2 * FCParam.AchsGegenKopplung1) / 512L; //109 |
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| 256 | Reading_IntegralRoll2 += ReadingRoll; |
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| 257 | Reading_IntegralRoll += ReadingRoll - AttitudeCorrectionRoll; |
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| 258 | if(Reading_IntegralRoll > TurnOver180Roll) |
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| 259 | { |
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| 260 | Reading_IntegralRoll = -(TurnOver180Roll - 10000L); |
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| 261 | Reading_IntegralRoll2 = Reading_IntegralRoll; |
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| 262 | } |
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| 263 | if(Reading_IntegralRoll < -TurnOver180Roll) |
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| 264 | { |
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| 265 | Reading_IntegralRoll = (TurnOver180Roll - 10000L); |
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| 266 | Reading_IntegralRoll2 = Reading_IntegralRoll; |
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| 267 | } |
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| 268 | if(AdValueGyrRoll < 15) ReadingRoll = -1000; |
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| 269 | if(AdValueGyrRoll < 7) ReadingRoll = -2000; |
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| 270 | if(BoardRelease == 10) |
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| 271 | { |
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| 272 | if(AdValueGyrRoll > 1010) ReadingRoll = +1000; |
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| 273 | if(AdValueGyrRoll > 1017) ReadingRoll = +2000; |
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| 274 | } |
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| 275 | else |
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| 276 | { |
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| 277 | if(AdValueGyrRoll > 2020) ReadingRoll = +1000; |
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| 278 | if(AdValueGyrRoll > 2034) ReadingRoll = +2000; |
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| 279 | } |
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| 280 | // Pitch |
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| 281 | ReadingPitch -= tmpl2; |
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| 282 | ReadingPitch -= (tmpl*FCParam.AchsGegenKopplung1) / 512L; |
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| 283 | Reading_IntegralPitch2 += ReadingPitch; |
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| 284 | Reading_IntegralPitch += ReadingPitch - AttitudeCorrectionPitch; |
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| 285 | if(Reading_IntegralPitch > TurnOver180Pitch) |
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| 286 | { |
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| 287 | Reading_IntegralPitch = -(TurnOver180Pitch - 10000L); |
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| 288 | Reading_IntegralPitch2 = Reading_IntegralPitch; |
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| 289 | } |
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| 290 | if(Reading_IntegralPitch < -TurnOver180Pitch) |
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| 291 | { |
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| 292 | Reading_IntegralPitch = (TurnOver180Pitch - 10000L); |
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| 293 | Reading_IntegralPitch2 = Reading_IntegralPitch; |
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| 294 | } |
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| 295 | if(AdValueGyrPitch < 15) ReadingPitch = -1000; |
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| 296 | if(AdValueGyrPitch < 7) ReadingPitch = -2000; |
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| 297 | if(BoardRelease == 10) |
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| 298 | { |
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| 299 | if(AdValueGyrPitch > 1010) ReadingPitch = +1000; |
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| 300 | if(AdValueGyrPitch > 1017) ReadingPitch = +2000; |
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| 301 | } |
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| 302 | else |
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| 303 | { |
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| 304 | if(AdValueGyrPitch > 2020) ReadingPitch = +1000; |
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| 305 | if(AdValueGyrPitch > 2034) ReadingPitch = +2000; |
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| 306 | } |
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| 307 | |||
| 308 | // start ADC |
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| 683 | killagreg | 309 | ADC_Enable(); |
| 395 | hbuss | 310 | |
| 703 | killagreg | 311 | IntegralYaw = Reading_IntegralYaw; |
| 701 | killagreg | 312 | IntegralPitch = Reading_IntegralPitch; |
| 313 | IntegralRoll = Reading_IntegralRoll; |
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| 314 | IntegralPitch2 = Reading_IntegralPitch2; |
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| 315 | IntegralRoll2 = Reading_IntegralRoll2; |
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| 1 | ingob | 316 | |
| 703 | killagreg | 317 | if(ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER && !Looping_Pitch && !Looping_Roll) |
| 318 | { |
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| 319 | if(ReadingPitch > 200) ReadingPitch += 4 * (ReadingPitch - 200); |
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| 320 | else if(ReadingPitch < -200) ReadingPitch += 4 * (ReadingPitch + 200); |
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| 321 | if(ReadingRoll > 200) ReadingRoll += 4 * (ReadingRoll - 200); |
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| 322 | else if(ReadingRoll < -200) ReadingRoll += 4 * (ReadingRoll + 200); |
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| 323 | } |
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| 324 | //update poti values by rc-signals (why not +127?) |
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| 690 | killagreg | 325 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
| 326 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
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| 327 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
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| 328 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
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| 703 | killagreg | 329 | //limit poti values |
| 1 | ingob | 330 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| 331 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
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| 332 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
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| 333 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
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| 334 | } |
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| 335 | |||
| 703 | killagreg | 336 | /************************************************************************/ |
| 337 | /* Averaging Measurement Readings for Calibration */ |
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| 338 | /************************************************************************/ |
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| 701 | killagreg | 339 | void CalibMean(void) |
| 683 | killagreg | 340 | { |
| 703 | killagreg | 341 | // stop ADC to avoid changing values during calculation |
| 683 | killagreg | 342 | ADC_Disable(); |
| 703 | killagreg | 343 | |
| 701 | killagreg | 344 | ReadingPitch = AdValueGyrPitch; |
| 345 | ReadingRoll = AdValueGyrRoll; |
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| 346 | ReadingYaw = AdValueGyrYaw; |
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| 703 | killagreg | 347 | |
| 348 | Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
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| 349 | Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
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| 350 | Mean_AccTop = (int32_t)AdValueAccTop; |
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| 351 | // start ADC |
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| 683 | killagreg | 352 | ADC_Enable(); |
| 703 | killagreg | 353 | //update poti values by rc-signals (why not +127?) |
| 690 | killagreg | 354 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
| 355 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
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| 356 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
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| 357 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
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| 703 | killagreg | 358 | //limit poti values |
| 1 | ingob | 359 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| 360 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 361 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 362 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 395 | hbuss | 363 | |
| 703 | killagreg | 364 | TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| 365 | TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
||
| 1 | ingob | 366 | } |
| 367 | |||
| 703 | killagreg | 368 | /************************************************************************/ |
| 369 | /* Transmit Motor Data via I2C */ |
||
| 370 | /************************************************************************/ |
||
| 1 | ingob | 371 | void SendMotorData(void) |
| 683 | killagreg | 372 | { |
| 701 | killagreg | 373 | if(MOTOR_OFF || !MotorsOn) |
| 703 | killagreg | 374 | { |
| 701 | killagreg | 375 | Motor_Rear = 0; |
| 376 | Motor_Front = 0; |
||
| 377 | Motor_Right = 0; |
||
| 378 | Motor_Left = 0; |
||
| 379 | if(MotorTest[0]) Motor_Front = MotorTest[0]; |
||
| 380 | if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
||
| 381 | if(MotorTest[2]) Motor_Left = MotorTest[2]; |
||
| 382 | if(MotorTest[3]) Motor_Right = MotorTest[3]; |
||
| 703 | killagreg | 383 | } |
| 1 | ingob | 384 | |
| 701 | killagreg | 385 | DebugOut.Analog[12] = Motor_Front; |
| 386 | DebugOut.Analog[13] = Motor_Rear; |
||
| 387 | DebugOut.Analog[14] = Motor_Left; |
||
| 388 | DebugOut.Analog[15] = Motor_Right; |
||
| 1 | ingob | 389 | |
| 390 | //Start I2C Interrupt Mode |
||
| 391 | twi_state = 0; |
||
| 392 | motor = 0; |
||
| 683 | killagreg | 393 | i2c_start(); |
| 1 | ingob | 394 | } |
| 395 | |||
| 396 | |||
| 397 | |||
| 703 | killagreg | 398 | /************************************************************************/ |
| 399 | /* Maps the parameter to poti values */ |
||
| 400 | /************************************************************************/ |
||
| 401 | void ParameterMapping(void) |
||
| 1 | ingob | 402 | { |
| 403 | |||
| 404 | #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
||
| 703 | killagreg | 405 | CHK_POTI(FCParam.MaxHight,ParamSet.MaxHight,0,255); |
| 406 | CHK_POTI(FCParam.AirPressure_D,ParamSet.AirPressure_D,0,100); |
||
| 407 | CHK_POTI(FCParam.Hight_P,ParamSet.Hight_P,0,100); |
||
| 408 | CHK_POTI(FCParam.Hight_ACC_Effect,ParamSet.Hight_ACC_Effect,0,255); |
||
| 409 | CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
||
| 410 | CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
||
| 411 | CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
||
| 412 | CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
||
| 413 | CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
||
| 414 | CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
||
| 415 | CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
||
| 416 | CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
||
| 417 | CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
||
| 418 | CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
||
| 419 | CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
||
| 420 | CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
||
| 421 | CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
||
| 422 | CHK_POTI(FCParam.LoopGasLimit,ParamSet.LoopGasLimit,0,255); |
||
| 423 | CHK_POTI(FCParam.AchsKopplung1, ParamSet.AchsKopplung1,0,255); |
||
| 424 | CHK_POTI(FCParam.AchsGegenKopplung1,ParamSet.AchsGegenKopplung1,0,255); |
||
| 425 | CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
||
| 1 | ingob | 426 | |
| 703 | killagreg | 427 | Ki = (float) FCParam.I_Factor * FACTOR_I; |
| 1 | ingob | 428 | } |
| 429 | |||
| 430 | |||
| 431 | //############################################################################ |
||
| 432 | // |
||
| 433 | void MotorRegler(void) |
||
| 434 | //############################################################################ |
||
| 435 | { |
||
| 701 | killagreg | 436 | int MotorValue, pd_ergebnis, h, tmp_int; |
| 437 | int YawMixingFraction, GasMixingFraction; |
||
| 438 | static long SumPitch = 0, SumRoll = 0; |
||
| 439 | static long SetPointYaw = 0, tmp_long, tmp_long2; |
||
| 440 | static long IntegralErrorPitch = 0; |
||
| 441 | static long IntegralErrorRoll = 0; |
||
| 1 | ingob | 442 | static unsigned int RcLostTimer; |
| 443 | static unsigned char delay_neutral = 0; |
||
| 444 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 445 | static unsigned int modell_fliegt = 0; |
||
| 446 | static int hoehenregler = 0; |
||
| 701 | killagreg | 447 | static char TimerDebugOut = 0; |
| 448 | static char StoreNewCompassCourse = 0; |
||
| 449 | static long CorrectionPitch, CorrectionRoll; |
||
| 1 | ingob | 450 | |
| 701 | killagreg | 451 | Mean(); |
| 683 | killagreg | 452 | |
| 1 | ingob | 453 | GRN_ON; |
| 683 | killagreg | 454 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 455 | // Gaswert ermitteln |
| 683 | killagreg | 456 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 457 | GasMixingFraction = StickGas; |
| 458 | if(GasMixingFraction < 0) GasMixingFraction = 0; |
||
| 683 | killagreg | 459 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 460 | // Emfang schlecht |
| 683 | killagreg | 461 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 462 | if(SenderOkay < 100) |
| 463 | { |
||
| 683 | killagreg | 464 | if(!PcZugriff) |
| 173 | holgerb | 465 | { |
| 683 | killagreg | 466 | if(BeepModulation == 0xFFFF) |
| 467 | { |
||
| 468 | BeepTime = 15000; // 1.5 seconds |
||
| 469 | BeepModulation = 0x0C00; |
||
| 470 | } |
||
| 173 | holgerb | 471 | } |
| 683 | killagreg | 472 | if(RcLostTimer) RcLostTimer--; |
| 473 | else |
||
| 1 | ingob | 474 | { |
| 701 | killagreg | 475 | MotorsOn = 0; |
| 476 | EmergencyLanding = 0; |
||
| 683 | killagreg | 477 | } |
| 1 | ingob | 478 | ROT_ON; |
| 479 | if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
||
| 480 | { |
||
| 701 | killagreg | 481 | GasMixingFraction = ParamSet.EmergencyGas; |
| 482 | EmergencyLanding = 1; |
||
| 483 | PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
||
| 690 | killagreg | 484 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
| 701 | killagreg | 485 | PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
| 173 | holgerb | 486 | } |
| 701 | killagreg | 487 | else MotorsOn = 0; |
| 1 | ingob | 488 | } |
| 683 | killagreg | 489 | else |
| 490 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 491 | // Emfang gut |
| 683 | killagreg | 492 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 493 | if(SenderOkay > 140) |
| 494 | { |
||
| 701 | killagreg | 495 | EmergencyLanding = 0; |
| 690 | killagreg | 496 | RcLostTimer = ParamSet.EmergencyGasDuration * 50; |
| 701 | killagreg | 497 | if(GasMixingFraction > 40) |
| 1 | ingob | 498 | { |
| 499 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 500 | } |
||
| 701 | killagreg | 501 | if((modell_fliegt < 200) || (GasMixingFraction < 40)) |
| 1 | ingob | 502 | { |
| 701 | killagreg | 503 | SumPitch = 0; |
| 504 | SumRoll = 0; |
||
| 703 | killagreg | 505 | Reading_IntegralYaw = 0; |
| 506 | Reading_IntegralYaw2 = 0; |
||
| 1 | ingob | 507 | } |
| 701 | killagreg | 508 | if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && MotorsOn == 0) |
| 1 | ingob | 509 | { |
| 683 | killagreg | 510 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 511 | // auf Nullwerte kalibrieren |
| 683 | killagreg | 512 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 513 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) // Neutralwerte |
| 1 | ingob | 514 | { |
| 515 | if(++delay_neutral > 200) // nicht sofort |
||
| 516 | { |
||
| 517 | GRN_OFF; |
||
| 701 | killagreg | 518 | MotorsOn = 0; |
| 1 | ingob | 519 | delay_neutral = 0; |
| 520 | modell_fliegt = 0; |
||
| 701 | killagreg | 521 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
| 1 | ingob | 522 | { |
| 304 | ingob | 523 | unsigned char setting=1; |
| 701 | killagreg | 524 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
| 525 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
||
| 526 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
||
| 527 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
||
| 528 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
||
| 687 | killagreg | 529 | SetActiveParamSet(setting); // aktiven Datensatz merken |
| 1 | ingob | 530 | } |
| 690 | killagreg | 531 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Höhenregelung aktiviert? |
| 1 | ingob | 532 | { |
| 701 | killagreg | 533 | if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
| 683 | killagreg | 534 | } |
| 687 | killagreg | 535 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| 173 | holgerb | 536 | SetNeutral(); |
| 703 | killagreg | 537 | Beep(GetActiveParamSet()); |
| 683 | killagreg | 538 | } |
| 1 | ingob | 539 | } |
| 683 | killagreg | 540 | else |
| 701 | killagreg | 541 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) // ACC Neutralwerte speichern |
| 513 | hbuss | 542 | { |
| 543 | if(++delay_neutral > 200) // nicht sofort |
||
| 544 | { |
||
| 545 | GRN_OFF; |
||
| 703 | killagreg | 546 | SetParamWord(PID_ACC_PITCH,0xFFFF); // Werte löschen |
| 701 | killagreg | 547 | MotorsOn = 0; |
| 513 | hbuss | 548 | delay_neutral = 0; |
| 549 | modell_fliegt = 0; |
||
| 550 | SetNeutral(); |
||
| 703 | killagreg | 551 | // ACC-NeutralWerte speichern |
| 552 | SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
||
| 553 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
||
| 554 | SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
||
| 555 | Beep(GetActiveParamSet()); |
||
| 683 | killagreg | 556 | } |
| 513 | hbuss | 557 | } |
| 1 | ingob | 558 | else delay_neutral = 0; |
| 559 | } |
||
| 683 | killagreg | 560 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 561 | // Gas ist unten |
| 683 | killagreg | 562 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 690 | killagreg | 563 | if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < 35-120) |
| 1 | ingob | 564 | { |
| 565 | // Starten |
||
| 701 | killagreg | 566 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
| 1 | ingob | 567 | { |
| 683 | killagreg | 568 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 569 | // Einschalten |
| 683 | killagreg | 570 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 571 | if(++delay_einschalten > 200) |
| 572 | { |
||
| 573 | delay_einschalten = 200; |
||
| 574 | modell_fliegt = 1; |
||
| 701 | killagreg | 575 | MotorsOn = 1; |
| 576 | SetPointYaw = 0; |
||
| 703 | killagreg | 577 | Reading_IntegralYaw = 0; |
| 578 | Reading_IntegralYaw2 = 0; |
||
| 701 | killagreg | 579 | Reading_IntegralPitch = 0; |
| 580 | Reading_IntegralRoll = 0; |
||
| 581 | Reading_IntegralPitch2 = IntegralPitch; |
||
| 582 | Reading_IntegralRoll2 = IntegralRoll; |
||
| 583 | SumPitch = 0; |
||
| 584 | SumRoll = 0; |
||
| 683 | killagreg | 585 | } |
| 586 | } |
||
| 1 | ingob | 587 | else delay_einschalten = 0; |
| 588 | //Auf Neutralwerte setzen |
||
| 683 | killagreg | 589 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 590 | // Auschalten |
| 683 | killagreg | 591 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 592 | if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
| 1 | ingob | 593 | { |
| 594 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 595 | { |
||
| 701 | killagreg | 596 | MotorsOn = 0; |
| 1 | ingob | 597 | delay_ausschalten = 200; |
| 598 | modell_fliegt = 0; |
||
| 683 | killagreg | 599 | } |
| 1 | ingob | 600 | } |
| 601 | else delay_ausschalten = 0; |
||
| 602 | } |
||
| 603 | } |
||
| 604 | |||
| 683 | killagreg | 605 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 606 | // neue Werte von der Funke |
| 683 | killagreg | 607 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 608 | if(!NewPpmData-- || EmergencyLanding) |
| 1 | ingob | 609 | { |
| 492 | hbuss | 610 | int tmp_int; |
| 703 | killagreg | 611 | ParameterMapping(); |
| 701 | killagreg | 612 | StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
| 613 | StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
||
| 690 | killagreg | 614 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
| 615 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
||
| 604 | hbuss | 616 | |
| 701 | killagreg | 617 | StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
| 690 | killagreg | 618 | StickGas = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120; |
| 595 | hbuss | 619 | |
| 701 | killagreg | 620 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
| 621 | MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); else MaxStickPitch--; |
||
| 690 | killagreg | 622 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
| 623 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); else MaxStickRoll--; |
||
| 701 | killagreg | 624 | if(EmergencyLanding) {MaxStickPitch = 0; MaxStickRoll = 0;} |
| 614 | hbuss | 625 | |
| 703 | killagreg | 626 | GyroFactor = ((float)FCParam.Gyro_P + 10.0) / 256.0; |
| 627 | IntegralFactor = ((float) FCParam.Gyro_I) / 44000; |
||
| 1 | ingob | 628 | |
| 595 | hbuss | 629 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 630 | //+ Digitale Steuerung per DubWise |
||
| 631 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 703 | killagreg | 632 | #define KEY_VALUE (FCParam.UserParam1 * 4) //(Poti3 * 8) |
| 683 | killagreg | 633 | if(DubWiseKeys[1]) BeepTime = 10; |
| 492 | hbuss | 634 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
| 635 | if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
||
| 701 | killagreg | 636 | ExternStickPitch= (ExternStickPitch* 7 + tmp_int) / 8; |
| 492 | hbuss | 637 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
| 638 | if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
||
| 639 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
||
| 640 | |||
| 701 | killagreg | 641 | if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
| 642 | if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
||
| 643 | if(DubWiseKeys[0] & 2) ExternHightValue++; |
||
| 644 | if(DubWiseKeys[0] & 16) ExternHightValue--; |
||
| 492 | hbuss | 645 | |
| 701 | killagreg | 646 | StickPitch += ExternStickPitch/ 8; |
| 492 | hbuss | 647 | StickRoll += ExternStickRoll / 8; |
| 701 | killagreg | 648 | StickYaw += ExternStickYaw; |
| 595 | hbuss | 649 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 650 | //+ Analoge Steuerung per Seriell |
||
| 651 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 703 | killagreg | 652 | if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
| 595 | hbuss | 653 | { |
| 701 | killagreg | 654 | StickPitch += (int) ExternControl.Pitch * (int) ParamSet.Stick_P; |
| 687 | killagreg | 655 | StickRoll += (int) ExternControl.Roll * (int) ParamSet.Stick_P; |
| 701 | killagreg | 656 | StickYaw += ExternControl.Yaw; |
| 657 | ExternHightValue = (int) ExternControl.Hight * (int)ParamSet.Hight_Gain; |
||
| 595 | hbuss | 658 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
| 659 | } |
||
| 492 | hbuss | 660 | |
| 701 | killagreg | 661 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) IntegralFactor = 0; |
| 662 | if(GyroFactor < 0) GyroFactor = 0; |
||
| 663 | if(IntegralFactor < 0) IntegralFactor = 0; |
||
| 683 | killagreg | 664 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 665 | // Looping? |
| 683 | killagreg | 666 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 667 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
| 683 | killagreg | 668 | else |
| 669 | { |
||
| 395 | hbuss | 670 | { |
| 701 | killagreg | 671 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
| 683 | killagreg | 672 | } |
| 673 | } |
||
| 701 | killagreg | 674 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
| 683 | killagreg | 675 | else |
| 395 | hbuss | 676 | { |
| 701 | killagreg | 677 | if(Looping_Right) // Hysterese |
| 395 | hbuss | 678 | { |
| 701 | killagreg | 679 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
| 395 | hbuss | 680 | } |
| 683 | killagreg | 681 | } |
| 173 | holgerb | 682 | |
| 701 | killagreg | 683 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
| 683 | killagreg | 684 | else |
| 685 | { |
||
| 701 | killagreg | 686 | if(Looping_Top) // Hysterese |
| 395 | hbuss | 687 | { |
| 701 | killagreg | 688 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
| 683 | killagreg | 689 | } |
| 690 | } |
||
| 701 | killagreg | 691 | if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
| 683 | killagreg | 692 | else |
| 395 | hbuss | 693 | { |
| 701 | killagreg | 694 | if(Looping_Down) // Hysterese |
| 395 | hbuss | 695 | { |
| 701 | killagreg | 696 | if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
| 395 | hbuss | 697 | } |
| 683 | killagreg | 698 | } |
| 395 | hbuss | 699 | |
| 701 | killagreg | 700 | if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
| 701 | if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
||
| 395 | hbuss | 702 | } // Ende neue Funken-Werte |
| 703 | |||
| 683 | killagreg | 704 | if(Looping_Roll) BeepTime = 100; |
| 701 | killagreg | 705 | if(Looping_Roll || Looping_Pitch) |
| 395 | hbuss | 706 | { |
| 701 | killagreg | 707 | if(GasMixingFraction > ParamSet.LoopGasLimit) GasMixingFraction = ParamSet.LoopGasLimit; |
| 173 | holgerb | 708 | } |
| 709 | |||
| 683 | killagreg | 710 | |
| 711 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 712 | // Bei Empfangsausfall im Flug |
||
| 713 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 701 | killagreg | 714 | if(EmergencyLanding) |
| 1 | ingob | 715 | { |
| 701 | killagreg | 716 | StickYaw = 0; |
| 717 | StickPitch = 0; |
||
| 1 | ingob | 718 | StickRoll = 0; |
| 701 | killagreg | 719 | GyroFactor = 0.5;//Originalwert von Holger 0.1; |
| 720 | IntegralFactor = 0.003; //Originalwert von Holger 0.005; |
||
| 173 | holgerb | 721 | Looping_Roll = 0; |
| 701 | killagreg | 722 | Looping_Pitch = 0; |
| 683 | killagreg | 723 | } |
| 395 | hbuss | 724 | |
| 725 | |||
| 683 | killagreg | 726 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 727 | // Integrale auf ACC-Signal abgleichen |
| 683 | killagreg | 728 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 729 | #define ABGLEICH_ANZAHL 256L |
| 730 | |||
| 701 | killagreg | 731 | MeanIntegralPitch += IntegralPitch; // Für die Mittelwertbildung aufsummieren |
| 732 | MeanIntegralRoll += IntegralRoll; |
||
| 733 | MeanIntegralPitch2 += IntegralPitch2; |
||
| 734 | MeanIntegralRoll2 += IntegralRoll2; |
||
| 395 | hbuss | 735 | |
| 701 | killagreg | 736 | if(Looping_Pitch || Looping_Roll) |
| 395 | hbuss | 737 | { |
| 701 | killagreg | 738 | IntegralAccPitch = 0; |
| 395 | hbuss | 739 | IntegralAccRoll = 0; |
| 701 | killagreg | 740 | MeanIntegralPitch = 0; |
| 741 | MeanIntegralRoll = 0; |
||
| 742 | MeanIntegralPitch2 = 0; |
||
| 743 | MeanIntegralRoll2 = 0; |
||
| 744 | Reading_IntegralPitch2 = Reading_IntegralPitch; |
||
| 745 | Reading_IntegralRoll2 = Reading_IntegralRoll; |
||
| 395 | hbuss | 746 | ZaehlMessungen = 0; |
| 701 | killagreg | 747 | AttitudeCorrectionPitch = 0; |
| 748 | AttitudeCorrectionRoll = 0; |
||
| 395 | hbuss | 749 | } |
| 750 | |||
| 683 | killagreg | 751 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 752 | if(!Looping_Pitch && !Looping_Roll) |
| 469 | hbuss | 753 | { |
| 754 | long tmp_long, tmp_long2; |
||
| 701 | killagreg | 755 | tmp_long = (long)(IntegralPitch / ParamSet.GyroAccFaktor - (long)Mean_AccPitch); |
| 756 | tmp_long2 = (long)(IntegralRoll / ParamSet.GyroAccFaktor - (long)Mean_AccRoll); |
||
| 469 | hbuss | 757 | tmp_long /= 16; |
| 758 | tmp_long2 /= 16; |
||
| 701 | killagreg | 759 | if((MaxStickPitch > 15) || (MaxStickRoll > 15)) |
| 614 | hbuss | 760 | { |
| 761 | tmp_long /= 3; |
||
| 762 | tmp_long2 /= 3; |
||
| 763 | } |
||
| 701 | killagreg | 764 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) |
| 623 | hbuss | 765 | { |
| 766 | tmp_long /= 3; |
||
| 767 | tmp_long2 /= 3; |
||
| 768 | } |
||
| 614 | hbuss | 769 | |
| 770 | #define AUSGLEICH 32 |
||
| 469 | hbuss | 771 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| 772 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 773 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 774 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 614 | hbuss | 775 | |
| 701 | killagreg | 776 | Reading_IntegralPitch -= tmp_long; |
| 777 | Reading_IntegralRoll -= tmp_long2; |
||
| 469 | hbuss | 778 | } |
| 683 | killagreg | 779 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 469 | hbuss | 780 | |
| 395 | hbuss | 781 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| 782 | { |
||
| 783 | static int cnt = 0; |
||
| 784 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 701 | killagreg | 785 | static long MeanIntegralPitch_old,MeanIntegralRoll_old; |
| 786 | if(!Looping_Pitch && !Looping_Roll) |
||
| 173 | holgerb | 787 | { |
| 701 | killagreg | 788 | MeanIntegralPitch /= ABGLEICH_ANZAHL; |
| 789 | MeanIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 790 | IntegralAccPitch = (ParamSet.GyroAccFaktor * IntegralAccPitch) / ABGLEICH_ANZAHL; |
||
| 687 | killagreg | 791 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
| 395 | hbuss | 792 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
| 492 | hbuss | 793 | #define MAX_I 0//(Poti2/10) |
| 701 | killagreg | 794 | // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 795 | IntegralErrorPitch = (long)(MeanIntegralPitch - (long)IntegralAccPitch); |
||
| 796 | CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
||
| 683 | killagreg | 797 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 798 | IntegralErrorRoll = (long)(MeanIntegralRoll - (long)IntegralAccRoll); |
| 799 | CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
||
| 614 | hbuss | 800 | |
| 701 | killagreg | 801 | AttitudeCorrectionPitch = CorrectionPitch / ABGLEICH_ANZAHL; |
| 802 | AttitudeCorrectionRoll = CorrectionRoll / ABGLEICH_ANZAHL; |
||
| 395 | hbuss | 803 | |
| 701 | killagreg | 804 | if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
| 614 | hbuss | 805 | { |
| 701 | killagreg | 806 | AttitudeCorrectionPitch /= 2; |
| 807 | AttitudeCorrectionPitch /= 2; |
||
| 614 | hbuss | 808 | } |
| 498 | hbuss | 809 | |
| 683 | killagreg | 810 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 811 | // Gyro-Drift ermitteln |
| 683 | killagreg | 812 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 813 | MeanIntegralPitch2 /= ABGLEICH_ANZAHL; |
| 814 | MeanIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 815 | tmp_long = IntegralPitch2 - IntegralPitch; |
||
| 683 | killagreg | 816 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
| 701 | killagreg | 817 | //DebugOut.Analog[25] = MeanIntegralRoll2 / 26; |
| 395 | hbuss | 818 | |
| 701 | killagreg | 819 | IntegralErrorPitch = tmp_long; |
| 820 | IntegralErrorRoll = tmp_long2; |
||
| 821 | Reading_IntegralPitch2 -= IntegralErrorPitch; |
||
| 822 | Reading_IntegralRoll2 -= IntegralErrorRoll; |
||
| 395 | hbuss | 823 | |
| 701 | killagreg | 824 | // IntegralErrorPitch = (IntegralErrorPitch * 1 + tmp_long) / 2; |
| 825 | // IntegralErrorRoll = (IntegralErrorRoll * 1 + tmp_long2) / 2; |
||
| 395 | hbuss | 826 | |
| 827 | |||
| 701 | killagreg | 828 | DebugOut.Analog[17] = IntegralAccPitch / 26; |
| 395 | hbuss | 829 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
| 701 | killagreg | 830 | DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
| 831 | DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
||
| 832 | DebugOut.Analog[21] = MeanIntegralPitch / 26; |
||
| 833 | DebugOut.Analog[22] = MeanIntegralRoll / 26; |
||
| 834 | //DebugOut.Analog[28] = CorrectionPitch; |
||
| 835 | DebugOut.Analog[29] = CorrectionRoll; |
||
| 836 | DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
||
| 395 | hbuss | 837 | |
| 492 | hbuss | 838 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
| 839 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
||
| 840 | #define BEWEGUNGS_LIMIT 20000 |
||
| 701 | killagreg | 841 | // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 842 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
||
| 843 | if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < BEWEGUNGS_LIMIT) |
||
| 492 | hbuss | 844 | { |
| 701 | killagreg | 845 | if(IntegralErrorPitch > FEHLER_LIMIT2) |
| 395 | hbuss | 846 | { |
| 683 | killagreg | 847 | if(last_n_p) |
| 395 | hbuss | 848 | { |
| 701 | killagreg | 849 | cnt += labs(IntegralErrorPitch) / FEHLER_LIMIT2; |
| 850 | CorrectionPitch = IntegralErrorPitch / 8; |
||
| 851 | if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
||
| 852 | AttitudeCorrectionPitch += CorrectionPitch / ABGLEICH_ANZAHL; |
||
| 683 | killagreg | 853 | } |
| 395 | hbuss | 854 | else last_n_p = 1; |
| 855 | } else last_n_p = 0; |
||
| 701 | killagreg | 856 | if(IntegralErrorPitch < -FEHLER_LIMIT2) |
| 395 | hbuss | 857 | { |
| 858 | if(last_n_n) |
||
| 683 | killagreg | 859 | { |
| 701 | killagreg | 860 | cnt += labs(IntegralErrorPitch) / FEHLER_LIMIT2; |
| 861 | CorrectionPitch = IntegralErrorPitch / 8; |
||
| 862 | if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
||
| 863 | AttitudeCorrectionPitch += CorrectionPitch / ABGLEICH_ANZAHL; |
||
| 683 | killagreg | 864 | } |
| 395 | hbuss | 865 | else last_n_n = 1; |
| 866 | } else last_n_n = 0; |
||
| 492 | hbuss | 867 | } else cnt = 0; |
| 690 | killagreg | 868 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
| 701 | killagreg | 869 | if(IntegralErrorPitch > FEHLER_LIMIT) AdNeutralPitch += cnt; |
| 870 | if(IntegralErrorPitch < -FEHLER_LIMIT) AdNeutralPitch -= cnt; |
||
| 401 | hbuss | 871 | |
| 395 | hbuss | 872 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 873 | cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
| 492 | hbuss | 874 | |
| 701 | killagreg | 875 | CorrectionRoll = 0; |
| 876 | if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < BEWEGUNGS_LIMIT) |
||
| 492 | hbuss | 877 | { |
| 701 | killagreg | 878 | if(IntegralErrorRoll > FEHLER_LIMIT2) |
| 395 | hbuss | 879 | { |
| 683 | killagreg | 880 | if(last_r_p) |
| 395 | hbuss | 881 | { |
| 701 | killagreg | 882 | cnt += labs(IntegralErrorRoll) / FEHLER_LIMIT2; |
| 883 | CorrectionRoll = IntegralErrorRoll / 8; |
||
| 884 | if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
||
| 885 | AttitudeCorrectionRoll += CorrectionRoll / ABGLEICH_ANZAHL; |
||
| 683 | killagreg | 886 | } |
| 395 | hbuss | 887 | else last_r_p = 1; |
| 888 | } else last_r_p = 0; |
||
| 701 | killagreg | 889 | if(IntegralErrorRoll < -FEHLER_LIMIT2) |
| 395 | hbuss | 890 | { |
| 683 | killagreg | 891 | if(last_r_n) |
| 395 | hbuss | 892 | { |
| 701 | killagreg | 893 | cnt += labs(IntegralErrorRoll) / FEHLER_LIMIT2; |
| 894 | CorrectionRoll = IntegralErrorRoll / 8; |
||
| 895 | if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
||
| 896 | AttitudeCorrectionRoll += CorrectionRoll / ABGLEICH_ANZAHL; |
||
| 395 | hbuss | 897 | } |
| 898 | else last_r_n = 1; |
||
| 899 | } else last_r_n = 0; |
||
| 683 | killagreg | 900 | } else |
| 492 | hbuss | 901 | { |
| 902 | cnt = 0; |
||
| 683 | killagreg | 903 | } |
| 614 | hbuss | 904 | |
| 690 | killagreg | 905 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
| 701 | killagreg | 906 | if(IntegralErrorRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| 907 | if(IntegralErrorRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 908 | DebugOut.Analog[27] = CorrectionRoll; |
||
| 909 | DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
||
| 401 | hbuss | 910 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
| 173 | holgerb | 911 | } |
| 683 | killagreg | 912 | else |
| 498 | hbuss | 913 | { |
| 701 | killagreg | 914 | AttitudeCorrectionRoll = 0; |
| 915 | AttitudeCorrectionPitch = 0; |
||
| 498 | hbuss | 916 | } |
| 595 | hbuss | 917 | |
| 701 | killagreg | 918 | if(!IntegralFactor) { AttitudeCorrectionRoll = 0; AttitudeCorrectionPitch = 0;} // z.B. bei HH |
| 683 | killagreg | 919 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 920 | MeanIntegralPitch_old = MeanIntegralPitch; |
| 921 | MeanIntegralRoll_old = MeanIntegralRoll; |
||
| 683 | killagreg | 922 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 923 | IntegralAccPitch = 0; |
| 395 | hbuss | 924 | IntegralAccRoll = 0; |
| 925 | IntegralAccZ = 0; |
||
| 701 | killagreg | 926 | MeanIntegralPitch = 0; |
| 927 | MeanIntegralRoll = 0; |
||
| 928 | MeanIntegralPitch2 = 0; |
||
| 929 | MeanIntegralRoll2 = 0; |
||
| 395 | hbuss | 930 | ZaehlMessungen = 0; |
| 931 | } |
||
| 701 | killagreg | 932 | //DebugOut.Analog[31] = StickRoll / (26*IntegralFactor); |
| 395 | hbuss | 933 | |
| 683 | killagreg | 934 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 935 | // Gieren |
| 683 | killagreg | 936 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 937 | if(abs(StickYaw) > 20) // war 35 |
| 1 | ingob | 938 | { |
| 701 | killagreg | 939 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) StoreNewCompassCourse = 1; |
| 1 | ingob | 940 | } |
| 701 | killagreg | 941 | tmp_int = (long) ParamSet.Yaw_P * ((long)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
| 942 | tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
||
| 943 | SetPointYaw = tmp_int; |
||
| 703 | killagreg | 944 | Reading_IntegralYaw -= tmp_int; |
| 945 | if(Reading_IntegralYaw > 50000) Reading_IntegralYaw = 50000; // begrenzen |
||
| 946 | if(Reading_IntegralYaw <-50000) Reading_IntegralYaw =-50000; |
||
| 683 | killagreg | 947 | |
| 948 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 949 | // Kompass |
| 683 | killagreg | 950 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 694 | killagreg | 951 | if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
| 952 | { |
||
| 953 | int w,v; |
||
| 701 | killagreg | 954 | static uint8_t updCompass = 0; |
| 694 | killagreg | 955 | |
| 701 | killagreg | 956 | if (!updCompass--) // Aufruf mit ~10 Hz |
| 694 | killagreg | 957 | { |
| 701 | killagreg | 958 | CompassHeading = MM3_heading(); // get current compass reading |
| 959 | CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
||
| 960 | updCompass = 50; |
||
| 694 | killagreg | 961 | } |
| 962 | |||
| 701 | killagreg | 963 | w = abs(IntegralPitch /512); // mit zunehmender Neigung den Einfluss drosseln |
| 694 | killagreg | 964 | v = abs(IntegralRoll /512); |
| 965 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 701 | killagreg | 966 | if(w < 35 && StoreNewCompassCourse) |
| 694 | killagreg | 967 | { |
| 701 | killagreg | 968 | CompassCourse = CompassHeading; |
| 969 | StoreNewCompassCourse = 0; |
||
| 694 | killagreg | 970 | } |
| 703 | killagreg | 971 | w = (w * FCParam.CompassYawEffect) / 64; // auf die Wirkung normieren |
| 972 | w = FCParam.CompassYawEffect - w; // Wirkung ggf drosseln |
||
| 694 | killagreg | 973 | if(w > 0) |
| 683 | killagreg | 974 | { |
| 703 | killagreg | 975 | Reading_IntegralYaw -= (CompassOffCourse * w) / 32; // nach Kompass ausrichten |
| 694 | killagreg | 976 | } |
| 683 | killagreg | 977 | } |
| 978 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 979 | |
| 683 | killagreg | 980 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 981 | // Debugwerte zuordnen |
| 683 | killagreg | 982 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 983 | if(!TimerDebugOut--) |
| 1 | ingob | 984 | { |
| 701 | killagreg | 985 | TimerDebugOut = 24; |
| 986 | DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFaktor; |
||
| 687 | killagreg | 987 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
| 701 | killagreg | 988 | DebugOut.Analog[2] = Mean_AccPitch; |
| 989 | DebugOut.Analog[3] = Mean_AccRoll; |
||
| 990 | DebugOut.Analog[4] = ReadingYaw; |
||
| 991 | DebugOut.Analog[5] = ReadingHight; |
||
| 992 | DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
||
| 993 | DebugOut.Analog[8] = CompassHeading; |
||
| 297 | holgerb | 994 | DebugOut.Analog[9] = UBat; |
| 995 | DebugOut.Analog[10] = SenderOkay; |
||
| 701 | killagreg | 996 | DebugOut.Analog[16] = Mean_AccTop; |
| 173 | holgerb | 997 | |
| 998 | /* DebugOut.Analog[16] = motor_rx[0]; |
||
| 999 | DebugOut.Analog[17] = motor_rx[1]; |
||
| 1000 | DebugOut.Analog[18] = motor_rx[2]; |
||
| 1001 | DebugOut.Analog[19] = motor_rx[3]; |
||
| 1002 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
||
| 1003 | DebugOut.Analog[20] /= 14; |
||
| 1004 | DebugOut.Analog[21] = motor_rx[4]; |
||
| 1005 | DebugOut.Analog[22] = motor_rx[5]; |
||
| 1006 | DebugOut.Analog[23] = motor_rx[6]; |
||
| 1007 | DebugOut.Analog[24] = motor_rx[7]; |
||
| 1008 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
||
| 1009 | */ |
||
| 701 | killagreg | 1010 | // DebugOut.Analog[9] = ReadingPitch; |
| 1011 | // DebugOut.Analog[9] = SetPointHight; |
||
| 703 | killagreg | 1012 | // DebugOut.Analog[10] = Reading_IntegralYaw / 128; |
| 701 | killagreg | 1013 | // DebugOut.Analog[11] = CompassCourse; |
| 703 | killagreg | 1014 | // DebugOut.Analog[10] = FCParam.Gyro_I; |
| 687 | killagreg | 1015 | // DebugOut.Analog[10] = ParamSet.Gyro_I; |
| 701 | killagreg | 1016 | // DebugOut.Analog[9] = CompassOffCourse; |
| 1017 | // DebugOut.Analog[10] = GasMixingFraction; |
||
| 703 | killagreg | 1018 | // DebugOut.Analog[3] = HightD * 32; |
| 1 | ingob | 1019 | // DebugOut.Analog[4] = hoehenregler; |
| 1020 | } |
||
| 1021 | |||
| 683 | killagreg | 1022 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1023 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| 683 | killagreg | 1024 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 1025 | //DebugOut.Analog[26] = ReadingPitch; |
| 1026 | //DebugOut.Analog[28] = ReadingRoll; |
||
| 604 | hbuss | 1027 | |
| 701 | killagreg | 1028 | if(Looping_Pitch) ReadingPitch = ReadingPitch * GyroFactor; |
| 1029 | else ReadingPitch = IntegralPitch * IntegralFactor + ReadingPitch * GyroFactor; |
||
| 1030 | if(Looping_Roll) ReadingRoll = ReadingRoll * GyroFactor; |
||
| 1031 | else ReadingRoll = IntegralRoll * IntegralFactor + ReadingRoll * GyroFactor; |
||
| 703 | killagreg | 1032 | ReadingYaw = ReadingYaw * (2 * GyroFactor) + IntegralYaw * IntegralFactor / 2; |
| 1 | ingob | 1033 | |
| 701 | killagreg | 1034 | DebugOut.Analog[25] = IntegralRoll * IntegralFactor; |
| 1035 | DebugOut.Analog[31] = StickRoll;// / (26*IntegralFactor); |
||
| 1036 | DebugOut.Analog[28] = ReadingRoll; |
||
| 469 | hbuss | 1037 | |
| 1 | ingob | 1038 | // Maximalwerte abfangen |
| 1039 | #define MAX_SENSOR 2048 |
||
| 701 | killagreg | 1040 | if(ReadingPitch > MAX_SENSOR) ReadingPitch = MAX_SENSOR; |
| 1041 | if(ReadingPitch < -MAX_SENSOR) ReadingPitch = -MAX_SENSOR; |
||
| 1042 | if(ReadingRoll > MAX_SENSOR) ReadingRoll = MAX_SENSOR; |
||
| 1043 | if(ReadingRoll < -MAX_SENSOR) ReadingRoll = -MAX_SENSOR; |
||
| 1044 | if(ReadingYaw > MAX_SENSOR) ReadingYaw = MAX_SENSOR; |
||
| 1045 | if(ReadingYaw < -MAX_SENSOR) ReadingYaw = -MAX_SENSOR; |
||
| 1 | ingob | 1046 | |
| 683 | killagreg | 1047 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1048 | // Höhenregelung |
| 1049 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
| 683 | killagreg | 1050 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1051 | //OCR0B = 180 - (Poti1 + 120) / 4; |
| 1052 | //DruckOffsetSetting = OCR0B; |
||
| 690 | killagreg | 1053 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Höhenregelung |
| 1 | ingob | 1054 | { |
| 1055 | int tmp_int; |
||
| 690 | killagreg | 1056 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) // Regler wird über Schalter gesteuert |
| 1 | ingob | 1057 | { |
| 703 | killagreg | 1058 | if(FCParam.MaxHight < 50) |
| 1 | ingob | 1059 | { |
| 703 | killagreg | 1060 | SetPointHight = ReadingHight - 20; // FCParam.MaxHight ist der PPM-Wert des Schalters |
| 701 | killagreg | 1061 | HightControlActive = 0; |
| 1 | ingob | 1062 | } |
| 683 | killagreg | 1063 | else |
| 701 | killagreg | 1064 | HightControlActive = 1; |
| 1 | ingob | 1065 | } |
| 683 | killagreg | 1066 | else |
| 1 | ingob | 1067 | { |
| 703 | killagreg | 1068 | SetPointHight = ((int) ExternHightValue + (int) FCParam.MaxHight) * (int)ParamSet.Hight_Gain - 20; |
| 701 | killagreg | 1069 | HightControlActive = 1; |
| 1 | ingob | 1070 | } |
| 1071 | |||
| 701 | killagreg | 1072 | if(EmergencyLanding) SetPointHight = 0; |
| 1073 | h = ReadingHight; |
||
| 1074 | if((h > SetPointHight) && HightControlActive) // zu hoch --> drosseln |
||
| 703 | killagreg | 1075 | { h = ((h - SetPointHight) * (int) FCParam.Hight_P) / 16; // Differenz bestimmen --> P-Anteil |
| 701 | killagreg | 1076 | h = GasMixingFraction - h; // vom Gas abziehen |
| 703 | killagreg | 1077 | h -= (HightD * FCParam.AirPressure_D)/8; // D-Anteil |
| 1078 | tmp_int = ((Reading_Integral_Top / 512) * (signed long) FCParam.Hight_ACC_Effect) / 32; |
||
| 1 | ingob | 1079 | if(tmp_int > 50) tmp_int = 50; |
| 1080 | else if(tmp_int < -50) tmp_int = -50; |
||
| 1081 | h -= tmp_int; |
||
| 683 | killagreg | 1082 | hoehenregler = (hoehenregler*15 + h) / 16; |
| 701 | killagreg | 1083 | if(hoehenregler < ParamSet.Hight_MinGas) // nicht unter MIN |
| 1 | ingob | 1084 | { |
| 701 | killagreg | 1085 | if(GasMixingFraction >= ParamSet.Hight_MinGas) hoehenregler = ParamSet.Hight_MinGas; |
| 1086 | if(GasMixingFraction < ParamSet.Hight_MinGas) hoehenregler = GasMixingFraction; |
||
| 683 | killagreg | 1087 | } |
| 701 | killagreg | 1088 | if(hoehenregler > GasMixingFraction) hoehenregler = GasMixingFraction; // nicht mehr als Gas |
| 1089 | GasMixingFraction = hoehenregler; |
||
| 683 | killagreg | 1090 | } |
| 1 | ingob | 1091 | } |
| 703 | killagreg | 1092 | if(GasMixingFraction > ParamSet.Gas_Max - 20) GasMixingFraction = ParamSet.Gas_Max - 20; |
| 683 | killagreg | 1093 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1094 | // + Mischer und PI-Regler |
| 683 | killagreg | 1095 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 1096 | DebugOut.Analog[7] = GasMixingFraction; |
| 683 | killagreg | 1097 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1098 | // Gier-Anteil |
| 683 | killagreg | 1099 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 188 | holgerb | 1100 | #define MUL_G 1.0 |
| 701 | killagreg | 1101 | YawMixingFraction = ReadingYaw - SetPointYaw; // Regler für Gier |
| 1102 | // YawMixingFraction = 0; |
||
| 173 | holgerb | 1103 | |
| 701 | killagreg | 1104 | if(YawMixingFraction > (GasMixingFraction / 2)) YawMixingFraction = GasMixingFraction / 2; |
| 1105 | if(YawMixingFraction < -(GasMixingFraction / 2)) YawMixingFraction = -(GasMixingFraction / 2); |
||
| 703 | killagreg | 1106 | if(YawMixingFraction > ((ParamSet.Gas_Max - GasMixingFraction))) YawMixingFraction = ((ParamSet.Gas_Max - GasMixingFraction)); |
| 1107 | if(YawMixingFraction < -((ParamSet.Gas_Max - GasMixingFraction))) YawMixingFraction = -((ParamSet.Gas_Max - GasMixingFraction)); |
||
| 513 | hbuss | 1108 | |
| 701 | killagreg | 1109 | if(GasMixingFraction < 20) YawMixingFraction = 0; |
| 683 | killagreg | 1110 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 1111 | // Pitch-Achse |
| 683 | killagreg | 1112 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 1113 | DiffPitch = ReadingPitch - (StickPitch - GPS_Pitch); // Differenz bestimmen |
| 1114 | if(IntegralFactor) SumPitch += IntegralPitch * IntegralFactor - (StickPitch - GPS_Pitch); // I-Anteil bei Winkelregelung |
||
| 1115 | else SumPitch += DiffPitch; // I-Anteil bei HH |
||
| 1116 | if(SumPitch > 16000) SumPitch = 16000; |
||
| 1117 | if(SumPitch < -16000) SumPitch = -16000; |
||
| 1118 | pd_ergebnis = DiffPitch + Ki * SumPitch; // PI-Regler für Pitch |
||
| 1 | ingob | 1119 | // Motor Vorn |
| 703 | killagreg | 1120 | tmp_int = (long)((long)FCParam.DynamicStability * (long)(GasMixingFraction + abs(YawMixingFraction)/2)) / 64; |
| 683 | killagreg | 1121 | if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| 1122 | if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
||
| 173 | holgerb | 1123 | |
| 701 | killagreg | 1124 | MotorValue = GasMixingFraction + pd_ergebnis + YawMixingFraction; // Mischer |
| 1125 | if ((MotorValue < 0)) MotorValue = 0; |
||
| 703 | killagreg | 1126 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
| 1127 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
||
| 701 | killagreg | 1128 | Motor_Front = MotorValue; |
| 1 | ingob | 1129 | // Motor Heck |
| 701 | killagreg | 1130 | MotorValue = GasMixingFraction - pd_ergebnis + YawMixingFraction; |
| 1131 | if ((MotorValue < 0)) MotorValue = 0; |
||
| 703 | killagreg | 1132 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
| 1133 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
||
| 701 | killagreg | 1134 | Motor_Rear = MotorValue; |
| 683 | killagreg | 1135 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1136 | // Roll-Achse |
| 683 | killagreg | 1137 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 701 | killagreg | 1138 | DiffRoll = ReadingRoll - (StickRoll - GPS_Roll); // Differenz bestimmen |
| 1139 | if(IntegralFactor) SumRoll += IntegralRoll * IntegralFactor - (StickRoll - GPS_Roll);// I-Anteil bei Winkelregelung |
||
| 1140 | else SumRoll += DiffRoll; // I-Anteil bei HH |
||
| 1141 | if(SumRoll > 16000) SumRoll = 16000; |
||
| 1142 | if(SumRoll < -16000) SumRoll = -16000; |
||
| 1143 | pd_ergebnis = DiffRoll + Ki * SumRoll; // PI-Regler für Roll |
||
| 703 | killagreg | 1144 | tmp_int = (long)((long)FCParam.DynamicStability * (long)(GasMixingFraction + abs(YawMixingFraction)/2)) / 64; |
| 683 | killagreg | 1145 | if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| 1146 | if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
||
| 1 | ingob | 1147 | // Motor Links |
| 701 | killagreg | 1148 | MotorValue = GasMixingFraction + pd_ergebnis - YawMixingFraction; |
| 604 | hbuss | 1149 | #define GRENZE Poti1 |
| 1150 | |||
| 701 | killagreg | 1151 | if ((MotorValue < 0)) MotorValue = 0; |
| 703 | killagreg | 1152 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
| 1153 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
||
| 701 | killagreg | 1154 | Motor_Left = MotorValue; |
| 1 | ingob | 1155 | // Motor Rechts |
| 701 | killagreg | 1156 | MotorValue = GasMixingFraction - pd_ergebnis - YawMixingFraction; |
| 604 | hbuss | 1157 | |
| 701 | killagreg | 1158 | if ((MotorValue < 0)) MotorValue = 0; |
| 703 | killagreg | 1159 | else if(MotorValue > ParamSet.Gas_Max) MotorValue = ParamSet.Gas_Max; |
| 1160 | if (MotorValue < ParamSet.Gas_Min) MotorValue = ParamSet.Gas_Min; |
||
| 701 | killagreg | 1161 | Motor_Right = MotorValue; |
| 1 | ingob | 1162 | // +++++++++++++++++++++++++++++++++++++++++++++++ |
| 1163 | } |
||
| 1164 |