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1 ingob 1
/*#######################################################################################
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Flight Control
3
#######################################################################################*/
4
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
8
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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.
11
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
12
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 13
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
14
// + Verkauf von Luftbildaufnahmen, usw.
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
20
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
21
// + eindeutig als Ursprung verlinkt werden
22
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
23
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
24
// + Benutzung auf eigene Gefahr
25
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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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// +     from this software without specific prior written permission.
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
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"
44
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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>
1 ingob 56
 
57
#include "main.h"
685 killagreg 58
#include "eeprom.h"
59
#include "timer0.h"
60
#include "_Settings.h"
61
#include "analog.h"
62
#include "fc.h"
63
#include "gps.h"
64
#include "uart.h"
65
#include "rc.h"
66
#include "twimaster.h"
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;
73
// gyro neutral readings
74
volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0;
75
volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0;
76
// mean accelerations
77
volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop;
78
 
79
// neutral acceleration readings
80
volatile int16_t NeutralAccX=0, NeutralAccY=0;
1 ingob 81
volatile float NeutralAccZ = 0;
82
 
703 killagreg 83
// attitude gyro integrals
84
volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0;
85
volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0;
86
volatile int32_t IntegralYaw = 0;
87
volatile int32_t Reading_IntegralPitch = 0, Reading_IntegralPitch2 = 0;
88
volatile int32_t Reading_IntegralRoll = 0,  Reading_IntegralRoll2 = 0;
89
volatile int32_t Reading_IntegralYaw = 0,   Reading_IntegralYaw2 = 0;
90
volatile int32_t MeanIntegralPitch, MeanIntegralPitch2;
91
volatile int32_t MeanIntegralRoll, MeanIntegralRoll2;
92
 
93
// attitude acceleration integrals
94
volatile int32_t IntegralAccPitch = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
95
volatile int32_t Reading_Integral_Top = 0;
96
 
97
// compass course
98
volatile int16_t CompassHeading = 0;
99
volatile int16_t CompassCourse = 0;
100
volatile int16_t CompassOffCourse = 0;
101
 
102
// flags
103
uint8_t EmergencyLanding = 0;
104
uint8_t HightControlActive = 0;
105
uint8_t MotorsOn = 0;
106
 
107
int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L;
108
 
701 killagreg 109
float GyroFactor;
110
float IntegralFactor;
703 killagreg 111
 
112
volatile int16_t  DiffPitch, DiffRoll;
113
 
114
int16_t  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
115
 
116
// setpoints for motors
117
volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left;
118
 
119
// stick values derived by rc channels readings
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;
1 ingob 123
 
701 killagreg 124
int MaxStickPitch = 0, MaxStickRoll = 0;
1 ingob 125
 
703 killagreg 126
 
127
int16_t ReadingHight = 0;
128
int16_t SetPointHight = 0;
129
 
130
int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0;
131
 
132
float Ki =  FACTOR_I;
133
 
134
uint8_t Looping_Pitch = 0, Looping_Roll = 0;
135
uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;
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};
139
 
140
 
141
/************************************************************************/
142
/*  Creates numbeeps beeps at the speaker                               */
143
/************************************************************************/
144
void Beep(uint8_t numbeeps)
1 ingob 145
{
703 killagreg 146
        while(numbeeps--)
147
        {
148
                if(MotorsOn) return; //auf keinen Fall im Flug!
149
                BeepTime = 100; // 0.1 second
150
                Delay_ms(250); // blocks 250 ms as pause to next beep,
151
                // this will block the flight control loop,
152
                // therefore do not use this funktion if motors are running
153
        }
1 ingob 154
}
155
 
703 killagreg 156
/************************************************************************/
157
/*  Neutral Readings                                                    */
158
/************************************************************************/
1 ingob 159
void SetNeutral(void)
160
{
683 killagreg 161
        NeutralAccX = 0;
1 ingob 162
        NeutralAccY = 0;
163
        NeutralAccZ = 0;
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;
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
    {
174
                if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
175
    }
176
        AdNeutralPitch = AdValueGyrPitch;
177
        AdNeutralRoll  = AdValueGyrRoll;
178
        AdNeutralYaw   = AdValueGyrYaw;
179
        StartNeutralRoll  = AdNeutralRoll;
180
        StartNeutralPitch = AdNeutralPitch;
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;
185
                NeutralAccZ = Current_AccZ;
513 hbuss 186
    }
683 killagreg 187
    else
703 killagreg 188
    {
189
                NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH);
190
            NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
191
            NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z);
513 hbuss 192
    }
701 killagreg 193
        Reading_IntegralPitch = 0;
194
    Reading_IntegralPitch2 = 0;
195
    Reading_IntegralRoll = 0;
196
    Reading_IntegralRoll2 = 0;
703 killagreg 197
    Reading_IntegralYaw = 0;
701 killagreg 198
    ReadingPitch = 0;
199
    ReadingRoll = 0;
200
    ReadingYaw = 0;
201
    StartAirPressure = AirPressure;
703 killagreg 202
    HightD = 0;
701 killagreg 203
    Reading_Integral_Top = 0;
204
    CompassCourse = CompassHeading;
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;
701 killagreg 209
    ExternHightValue = 0;
1 ingob 210
}
211
 
703 killagreg 212
/************************************************************************/
213
/*  Averaging Measurement Readings                                      */
214
/************************************************************************/
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;
221
    ReadingRoll  = AdValueGyrRoll  - AdNeutralRoll;
222
    ReadingPitch = AdValueGyrPitch - AdNeutralPitch;
604 hbuss 223
 
703 killagreg 224
        DebugOut.Analog[26] = ReadingPitch;
225
        DebugOut.Analog[28] = ReadingRoll;
226
 
227
// Acceleration Sensor
228
        Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L;
229
        Mean_AccRoll  = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L;
230
        Mean_AccTop   = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L;
231
 
701 killagreg 232
    IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch;
703 killagreg 233
    IntegralAccRoll  += ACC_AMPLIFY * AdValueAccRoll;
234
    IntegralAccZ     += Current_AccZ - NeutralAccZ;
235
 
236
// Yaw
237
    Reading_IntegralYaw +=  ReadingYaw;
238
    Reading_IntegralYaw2 += ReadingYaw;
239
 
240
// Coupling fraction
241
        if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
242
        {
243
                tmpl = Reading_IntegralPitch / 4096L;
244
                tmpl *= ReadingYaw;
245
                tmpl *= FCParam.AchsKopplung1;  //125
246
                tmpl /= 2048L;
247
                tmpl2 = Reading_IntegralRoll / 4096L;
248
                tmpl2 *= ReadingYaw;
249
                tmpl2 *= FCParam.AchsKopplung1;
250
                tmpl2 /= 2048L;
251
        }
252
        else  tmpl = tmpl2 = 0;
253
// Roll
254
        ReadingRoll += tmpl;
255
        ReadingRoll += (tmpl2 * FCParam.AchsGegenKopplung1) / 512L; //109
256
        Reading_IntegralRoll2 += ReadingRoll;
257
        Reading_IntegralRoll +=  ReadingRoll - AttitudeCorrectionRoll;
258
        if(Reading_IntegralRoll > TurnOver180Roll)
259
        {
260
                Reading_IntegralRoll  = -(TurnOver180Roll - 10000L);
261
                Reading_IntegralRoll2 = Reading_IntegralRoll;
262
        }
263
        if(Reading_IntegralRoll < -TurnOver180Roll)
264
        {
265
                Reading_IntegralRoll =  (TurnOver180Roll - 10000L);
266
                Reading_IntegralRoll2 = Reading_IntegralRoll;
267
        }
268
        if(AdValueGyrRoll < 15)   ReadingRoll = -1000;
269
        if(AdValueGyrRoll <  7)   ReadingRoll = -2000;
270
        if(BoardRelease == 10)
271
         {
272
                if(AdValueGyrRoll > 1010) ReadingRoll = +1000;
273
                if(AdValueGyrRoll > 1017) ReadingRoll = +2000;
274
         }
275
         else
276
         {
277
                if(AdValueGyrRoll > 2020) ReadingRoll = +1000;
278
                if(AdValueGyrRoll > 2034) ReadingRoll = +2000;
279
         }
280
// Pitch
281
        ReadingPitch -= tmpl2;
282
        ReadingPitch -= (tmpl*FCParam.AchsGegenKopplung1) / 512L;
283
        Reading_IntegralPitch2 += ReadingPitch;
284
        Reading_IntegralPitch  += ReadingPitch - AttitudeCorrectionPitch;
285
        if(Reading_IntegralPitch > TurnOver180Pitch)
286
        {
287
         Reading_IntegralPitch = -(TurnOver180Pitch - 10000L);
288
         Reading_IntegralPitch2 = Reading_IntegralPitch;
289
        }
290
        if(Reading_IntegralPitch < -TurnOver180Pitch)
291
        {
292
         Reading_IntegralPitch =  (TurnOver180Pitch - 10000L);
293
         Reading_IntegralPitch2 = Reading_IntegralPitch;
294
        }
295
        if(AdValueGyrPitch < 15)   ReadingPitch = -1000;
296
        if(AdValueGyrPitch <  7)   ReadingPitch = -2000;
297
        if(BoardRelease == 10)
298
         {
299
                if(AdValueGyrPitch > 1010) ReadingPitch = +1000;
300
                if(AdValueGyrPitch > 1017) ReadingPitch = +2000;
301
         }
302
         else
303
         {
304
                if(AdValueGyrPitch > 2020) ReadingPitch = +1000;
305
                if(AdValueGyrPitch > 2034) ReadingPitch = +2000;
306
         }
307
 
308
// start ADC
683 killagreg 309
    ADC_Enable();
395 hbuss 310
 
703 killagreg 311
    IntegralYaw  = Reading_IntegralYaw;
701 killagreg 312
    IntegralPitch = Reading_IntegralPitch;
313
    IntegralRoll = Reading_IntegralRoll;
314
    IntegralPitch2 = Reading_IntegralPitch2;
315
    IntegralRoll2 = Reading_IntegralRoll2;
1 ingob 316
 
703 killagreg 317
        if(ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER && !Looping_Pitch && !Looping_Roll)
318
        {
319
        if(ReadingPitch > 200)       ReadingPitch += 4 * (ReadingPitch - 200);
320
        else if(ReadingPitch < -200) ReadingPitch += 4 * (ReadingPitch + 200);
321
        if(ReadingRoll > 200)        ReadingRoll  += 4 * (ReadingRoll - 200);
322
        else if(ReadingRoll < -200)  ReadingRoll  += 4 * (ReadingRoll + 200);
323
        }
324
        //update poti values by rc-signals (why not +127?)
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--;
327
    if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
328
    if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
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;
332
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
333
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
334
}
335
 
703 killagreg 336
/************************************************************************/
337
/*  Averaging Measurement Readings  for Calibration                     */
338
/************************************************************************/
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;
346
        ReadingYaw = AdValueGyrYaw;
703 killagreg 347
 
348
        Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch;
349
        Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll;
350
        Mean_AccTop = (int32_t)AdValueAccTop;
351
   // start ADC
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--;
356
    if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
357
    if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
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