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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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| 1 | ingob | 67 | |
| 68 | unsigned char h,m,s; |
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| 173 | holgerb | 69 | volatile unsigned int I2CTimeout = 100; |
| 1 | ingob | 70 | volatile int MesswertNick,MesswertRoll,MesswertGier; |
| 401 | hbuss | 71 | volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| 1 | ingob | 72 | volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| 73 | volatile float NeutralAccZ = 0; |
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| 74 | volatile long IntegralNick = 0,IntegralNick2 = 0; |
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| 75 | volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
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| 395 | hbuss | 76 | volatile long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
| 1 | ingob | 77 | volatile long Integral_Gier = 0; |
| 78 | volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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| 79 | volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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| 80 | volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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| 395 | hbuss | 81 | volatile long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
| 1 | ingob | 82 | volatile long Mess_Integral_Hoch = 0; |
| 83 | volatile int KompassValue = 0; |
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| 84 | volatile int KompassStartwert = 0; |
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| 85 | volatile int KompassRichtung = 0; |
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| 86 | unsigned char MAX_GAS,MIN_GAS; |
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| 87 | unsigned char Notlandung = 0; |
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| 88 | unsigned char HoehenReglerAktiv = 0; |
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| 395 | hbuss | 89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| 1 | ingob | 90 | |
| 91 | float GyroFaktor; |
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| 92 | float IntegralFaktor; |
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| 93 | volatile int DiffNick,DiffRoll; |
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| 683 | killagreg | 94 | int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| 1 | ingob | 95 | volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| 96 | unsigned char MotorWert[5]; |
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| 595 | hbuss | 97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| 1 | ingob | 98 | char MotorenEin = 0; |
| 99 | int HoehenWert = 0; |
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| 100 | int SollHoehe = 0; |
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| 498 | hbuss | 101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| 1 | ingob | 102 | float Ki = FAKTOR_I; |
| 395 | hbuss | 103 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| 104 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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| 1 | ingob | 105 | |
| 106 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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| 107 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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| 108 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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| 109 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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| 110 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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| 173 | holgerb | 111 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| 1 | ingob | 112 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| 113 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
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| 690 | killagreg | 114 | unsigned char Parameter_I_Factor = 10; // Wert : 1-20 |
| 1 | ingob | 115 | unsigned char Parameter_UserParam1 = 0; |
| 116 | unsigned char Parameter_UserParam2 = 0; |
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| 117 | unsigned char Parameter_UserParam3 = 0; |
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| 118 | unsigned char Parameter_UserParam4 = 0; |
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| 499 | hbuss | 119 | unsigned char Parameter_UserParam5 = 0; |
| 120 | unsigned char Parameter_UserParam6 = 0; |
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| 121 | unsigned char Parameter_UserParam7 = 0; |
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| 122 | unsigned char Parameter_UserParam8 = 0; |
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| 1 | ingob | 123 | unsigned char Parameter_ServoNickControl = 100; |
| 173 | holgerb | 124 | unsigned char Parameter_LoopGasLimit = 70; |
| 395 | hbuss | 125 | unsigned char Parameter_AchsKopplung1 = 0; |
| 126 | unsigned char Parameter_AchsGegenKopplung1 = 0; |
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| 499 | hbuss | 127 | unsigned char Parameter_DynamicStability = 100; |
| 687 | killagreg | 128 | |
| 492 | hbuss | 129 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| 614 | hbuss | 130 | int MaxStickNick = 0,MaxStickRoll = 0; |
| 1 | ingob | 131 | |
| 132 | void Piep(unsigned char Anzahl) |
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| 133 | { |
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| 134 | while(Anzahl--) |
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| 135 | { |
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| 136 | if(MotorenEin) return; //auf keinen Fall im Flug! |
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| 683 | killagreg | 137 | BeepTime = 100; |
| 1 | ingob | 138 | Delay_ms(250); |
| 139 | } |
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| 140 | } |
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| 141 | |||
| 142 | //############################################################################ |
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| 143 | // Nullwerte ermitteln |
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| 144 | void SetNeutral(void) |
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| 145 | //############################################################################ |
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| 146 | { |
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| 683 | killagreg | 147 | NeutralAccX = 0; |
| 1 | ingob | 148 | NeutralAccY = 0; |
| 149 | NeutralAccZ = 0; |
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| 683 | killagreg | 150 | AdNeutralNick = 0; |
| 151 | AdNeutralRoll = 0; |
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| 1 | ingob | 152 | AdNeutralGier = 0; |
| 395 | hbuss | 153 | Parameter_AchsKopplung1 = 0; |
| 154 | Parameter_AchsGegenKopplung1 = 0; |
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| 683 | killagreg | 155 | CalibrierMittelwert(); |
| 395 | hbuss | 156 | Delay_ms_Mess(100); |
| 1 | ingob | 157 | CalibrierMittelwert(); |
| 690 | killagreg | 158 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Höhenregelung aktiviert? |
| 683 | killagreg | 159 | { |
| 1 | ingob | 160 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 161 | } |
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| 173 | holgerb | 162 | |
| 683 | killagreg | 163 | AdNeutralNick= AdValueGyrNick; |
| 164 | AdNeutralRoll= AdValueGyrRoll; |
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| 165 | AdNeutralGier= AdValueGyrGier; |
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| 401 | hbuss | 166 | StartNeutralRoll = AdNeutralRoll; |
| 167 | StartNeutralNick = AdNeutralNick; |
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| 687 | killagreg | 168 | if(GetParamByte(PID_ACC_NICK) > 4) |
| 513 | hbuss | 169 | { |
| 170 | NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
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| 171 | NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
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| 683 | killagreg | 172 | NeutralAccZ = Current_AccZ; |
| 513 | hbuss | 173 | } |
| 683 | killagreg | 174 | else |
| 513 | hbuss | 175 | { |
| 687 | killagreg | 176 | NeutralAccX = (int)GetParamByte(PID_ACC_NICK) * 256 + (int)GetParamByte(PID_ACC_NICK+1); |
| 177 | NeutralAccY = (int)GetParamByte(PID_ACC_ROLL) * 256 + (int)GetParamByte(PID_ACC_ROLL+1); |
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| 178 | NeutralAccZ = (int)GetParamByte(PID_ACC_Z) * 256 + (int)GetParamByte(PID_ACC_Z+1); |
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| 513 | hbuss | 179 | } |
| 683 | killagreg | 180 | |
| 181 | Mess_IntegralNick = 0; |
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| 1 | ingob | 182 | Mess_IntegralNick2 = 0; |
| 683 | killagreg | 183 | Mess_IntegralRoll = 0; |
| 1 | ingob | 184 | Mess_IntegralRoll2 = 0; |
| 683 | killagreg | 185 | Mess_Integral_Gier = 0; |
| 1 | ingob | 186 | MesswertNick = 0; |
| 187 | MesswertRoll = 0; |
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| 188 | MesswertGier = 0; |
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| 189 | StartLuftdruck = Luftdruck; |
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| 190 | HoeheD = 0; |
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| 191 | Mess_Integral_Hoch = 0; |
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| 192 | KompassStartwert = KompassValue; |
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| 193 | GPS_Neutral(); |
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| 683 | killagreg | 194 | BeepTime = 50; |
| 687 | killagreg | 195 | Umschlag180Nick = (long) ParamSet.WinkelUmschlagNick * 2500L; |
| 196 | Umschlag180Roll = (long) ParamSet.WinkelUmschlagRoll * 2500L; |
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| 492 | hbuss | 197 | ExternHoehenValue = 0; |
| 1 | ingob | 198 | } |
| 199 | |||
| 200 | //############################################################################ |
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| 395 | hbuss | 201 | // Bearbeitet die Messwerte |
| 1 | ingob | 202 | void Mittelwert(void) |
| 203 | //############################################################################ |
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| 683 | killagreg | 204 | { |
| 205 | static signed long tmpl,tmpl2; |
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| 206 | MesswertGier = (signed int) AdNeutralGier - AdValueGyrGier; |
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| 207 | MesswertRoll = (signed int) AdValueGyrRoll - AdNeutralRoll; |
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| 208 | MesswertNick = (signed int) AdValueGyrNick - AdNeutralNick; |
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| 401 | hbuss | 209 | |
| 604 | hbuss | 210 | //DebugOut.Analog[26] = MesswertNick; |
| 211 | DebugOut.Analog[28] = MesswertRoll; |
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| 212 | |||
| 395 | hbuss | 213 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 683 | killagreg | 214 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdValueAccNick))) / 2L; |
| 215 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdValueAccRoll))) / 2L; |
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| 216 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdValueAccTop)) / 2L; |
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| 217 | IntegralAccNick += ACC_AMPLIFY * AdValueAccNick; |
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| 218 | IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
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| 219 | IntegralAccZ += Current_AccZ - NeutralAccZ; |
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| 395 | hbuss | 220 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 221 | Mess_Integral_Gier += MesswertGier; |
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| 222 | Mess_Integral_Gier2 += MesswertGier; |
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| 223 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
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| 690 | killagreg | 224 | if(!Looping_Nick && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
| 395 | hbuss | 225 | { |
| 226 | tmpl = Mess_IntegralNick / 4096L; |
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| 227 | tmpl *= MesswertGier; |
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| 228 | tmpl *= Parameter_AchsKopplung1; //125 |
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| 229 | tmpl /= 2048L; |
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| 230 | tmpl2 = Mess_IntegralRoll / 4096L; |
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| 231 | tmpl2 *= MesswertGier; |
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| 232 | tmpl2 *= Parameter_AchsKopplung1; |
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| 233 | tmpl2 /= 2048L; |
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| 234 | } |
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| 235 | else tmpl = tmpl2 = 0; |
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| 236 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 237 | MesswertRoll += tmpl; |
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| 238 | MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
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| 239 | Mess_IntegralRoll2 += MesswertRoll; |
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| 498 | hbuss | 240 | Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
| 683 | killagreg | 241 | if(Mess_IntegralRoll > Umschlag180Roll) |
| 395 | hbuss | 242 | { |
| 243 | Mess_IntegralRoll = -(Umschlag180Roll - 10000L); |
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| 244 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
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| 683 | killagreg | 245 | } |
| 395 | hbuss | 246 | if(Mess_IntegralRoll <-Umschlag180Roll) |
| 247 | { |
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| 248 | Mess_IntegralRoll = (Umschlag180Roll - 10000L); |
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| 249 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
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| 683 | killagreg | 250 | } |
| 251 | if(AdValueGyrRoll < 15) MesswertRoll = -1000; |
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| 252 | if(AdValueGyrRoll < 7) MesswertRoll = -2000; |
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| 685 | killagreg | 253 | if(BoardRelease == 10) |
| 401 | hbuss | 254 | { |
| 683 | killagreg | 255 | if(AdValueGyrRoll > 1010) MesswertRoll = +1000; |
| 256 | if(AdValueGyrRoll > 1017) MesswertRoll = +2000; |
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| 401 | hbuss | 257 | } |
| 683 | killagreg | 258 | else |
| 401 | hbuss | 259 | { |
| 683 | killagreg | 260 | if(AdValueGyrRoll > 2020) MesswertRoll = +1000; |
| 261 | if(AdValueGyrRoll > 2034) MesswertRoll = +2000; |
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| 401 | hbuss | 262 | } |
| 395 | hbuss | 263 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 264 | MesswertNick -= tmpl2; |
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| 265 | MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
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| 266 | Mess_IntegralNick2 += MesswertNick; |
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| 498 | hbuss | 267 | Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
| 683 | killagreg | 268 | if(Mess_IntegralNick > Umschlag180Nick) |
| 395 | hbuss | 269 | { |
| 270 | Mess_IntegralNick = -(Umschlag180Nick - 10000L); |
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| 271 | Mess_IntegralNick2 = Mess_IntegralNick; |
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| 683 | killagreg | 272 | } |
| 273 | if(Mess_IntegralNick <-Umschlag180Nick) |
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| 395 | hbuss | 274 | { |
| 275 | Mess_IntegralNick = (Umschlag180Nick - 10000L); |
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| 276 | Mess_IntegralNick2 = Mess_IntegralNick; |
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| 683 | killagreg | 277 | } |
| 278 | if(AdValueGyrNick < 15) MesswertNick = -1000; |
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| 279 | if(AdValueGyrNick < 7) MesswertNick = -2000; |
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| 685 | killagreg | 280 | if(BoardRelease == 10) |
| 401 | hbuss | 281 | { |
| 683 | killagreg | 282 | if(AdValueGyrNick > 1010) MesswertNick = +1000; |
| 283 | if(AdValueGyrNick > 1017) MesswertNick = +2000; |
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| 401 | hbuss | 284 | } |
| 683 | killagreg | 285 | else |
| 401 | hbuss | 286 | { |
| 683 | killagreg | 287 | if(AdValueGyrNick > 2020) MesswertNick = +1000; |
| 288 | if(AdValueGyrNick > 2034) MesswertNick = +2000; |
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| 401 | hbuss | 289 | } |
| 395 | hbuss | 290 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
| 291 | // ADC einschalten |
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| 683 | killagreg | 292 | ADC_Enable(); |
| 395 | hbuss | 293 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
| 294 | |||
| 1 | ingob | 295 | Integral_Gier = Mess_Integral_Gier; |
| 296 | IntegralNick = Mess_IntegralNick; |
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| 297 | IntegralRoll = Mess_IntegralRoll; |
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| 683 | killagreg | 298 | IntegralNick2 = Mess_IntegralNick2; |
| 1 | ingob | 299 | IntegralRoll2 = Mess_IntegralRoll2; |
| 300 | |||
| 690 | killagreg | 301 | if(ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER && !Looping_Nick && !Looping_Roll) |
| 395 | hbuss | 302 | { |
| 303 | if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
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| 683 | killagreg | 304 | else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| 395 | hbuss | 305 | if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| 683 | killagreg | 306 | else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| 395 | hbuss | 307 | } |
| 690 | killagreg | 308 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
| 309 | 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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| 310 | 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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| 311 | 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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| 1 | ingob | 312 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| 313 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
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| 314 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
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| 315 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
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| 316 | } |
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| 317 | |||
| 318 | //############################################################################ |
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| 319 | // Messwerte beim Ermitteln der Nullage |
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| 320 | void CalibrierMittelwert(void) |
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| 321 | //############################################################################ |
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| 683 | killagreg | 322 | { |
| 1 | ingob | 323 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| 683 | killagreg | 324 | ADC_Disable(); |
| 325 | MesswertNick = AdValueGyrNick; |
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| 326 | MesswertRoll = AdValueGyrRoll; |
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| 327 | MesswertGier = AdValueGyrGier; |
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| 328 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdValueAccNick; |
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| 329 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdValueAccRoll; |
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| 330 | Mittelwert_AccHoch = (long)AdValueAccTop; |
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| 395 | hbuss | 331 | // ADC einschalten |
| 683 | killagreg | 332 | ADC_Enable(); |
| 690 | killagreg | 333 | if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
| 334 | if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
||
| 335 | if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
||
| 336 | if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
||
| 1 | ingob | 337 | if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| 338 | if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
||
| 339 | if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
||
| 340 | if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
||
| 395 | hbuss | 341 | |
| 687 | killagreg | 342 | Umschlag180Nick = (long) ParamSet.WinkelUmschlagNick * 2500L; |
| 343 | Umschlag180Roll = (long) ParamSet.WinkelUmschlagNick * 2500L; |
||
| 1 | ingob | 344 | } |
| 345 | |||
| 346 | //############################################################################ |
||
| 347 | // Senden der Motorwerte per I2C-Bus |
||
| 348 | void SendMotorData(void) |
||
| 349 | //############################################################################ |
||
| 683 | killagreg | 350 | { |
| 1 | ingob | 351 | if(MOTOR_OFF || !MotorenEin) |
| 352 | { |
||
| 353 | Motor_Hinten = 0; |
||
| 354 | Motor_Vorne = 0; |
||
| 355 | Motor_Rechts = 0; |
||
| 356 | Motor_Links = 0; |
||
| 357 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
||
| 358 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
||
| 359 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
||
| 360 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
||
| 361 | } |
||
| 362 | |||
| 363 | DebugOut.Analog[12] = Motor_Vorne; |
||
| 364 | DebugOut.Analog[13] = Motor_Hinten; |
||
| 365 | DebugOut.Analog[14] = Motor_Links; |
||
| 683 | killagreg | 366 | DebugOut.Analog[15] = Motor_Rechts; |
| 1 | ingob | 367 | |
| 368 | //Start I2C Interrupt Mode |
||
| 369 | twi_state = 0; |
||
| 370 | motor = 0; |
||
| 683 | killagreg | 371 | i2c_start(); |
| 1 | ingob | 372 | } |
| 373 | |||
| 374 | |||
| 375 | |||
| 376 | //############################################################################ |
||
| 377 | // Trägt ggf. das Poti als Parameter ein |
||
| 683 | killagreg | 378 | void ParameterZuordnung(void) |
| 1 | ingob | 379 | //############################################################################ |
| 380 | { |
||
| 381 | |||
| 382 | #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;} |
||
| 687 | killagreg | 383 | CHK_POTI(Parameter_MaxHoehe,ParamSet.MaxHoehe,0,255); |
| 384 | CHK_POTI(Parameter_Luftdruck_D,ParamSet.Luftdruck_D,0,100); |
||
| 385 | CHK_POTI(Parameter_Hoehe_P,ParamSet.Hoehe_P,0,100); |
||
| 386 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,ParamSet.Hoehe_ACC_Wirkung,0,255); |
||
| 387 | CHK_POTI(Parameter_KompassWirkung,ParamSet.KompassWirkung,0,255); |
||
| 388 | CHK_POTI(Parameter_Gyro_P,ParamSet.Gyro_P,10,255); |
||
| 389 | CHK_POTI(Parameter_Gyro_I,ParamSet.Gyro_I,0,255); |
||
| 690 | killagreg | 390 | CHK_POTI(Parameter_I_Factor,ParamSet.I_Factor,0,255); |
| 687 | killagreg | 391 | CHK_POTI(Parameter_UserParam1,ParamSet.UserParam1,0,255); |
| 392 | CHK_POTI(Parameter_UserParam2,ParamSet.UserParam2,0,255); |
||
| 393 | CHK_POTI(Parameter_UserParam3,ParamSet.UserParam3,0,255); |
||
| 394 | CHK_POTI(Parameter_UserParam4,ParamSet.UserParam4,0,255); |
||
| 395 | CHK_POTI(Parameter_UserParam5,ParamSet.UserParam5,0,255); |
||
| 396 | CHK_POTI(Parameter_UserParam6,ParamSet.UserParam6,0,255); |
||
| 397 | CHK_POTI(Parameter_UserParam7,ParamSet.UserParam7,0,255); |
||
| 398 | CHK_POTI(Parameter_UserParam8,ParamSet.UserParam8,0,255); |
||
| 399 | CHK_POTI(Parameter_ServoNickControl,ParamSet.ServoNickControl,0,255); |
||
| 400 | CHK_POTI(Parameter_LoopGasLimit,ParamSet.LoopGasLimit,0,255); |
||
| 401 | CHK_POTI(Parameter_AchsKopplung1, ParamSet.AchsKopplung1,0,255); |
||
| 402 | CHK_POTI(Parameter_AchsGegenKopplung1,ParamSet.AchsGegenKopplung1,0,255); |
||
| 403 | CHK_POTI(Parameter_DynamicStability,ParamSet.DynamicStability,0,255); |
||
| 1 | ingob | 404 | |
| 690 | killagreg | 405 | Ki = (float) Parameter_I_Factor * 0.0001; |
| 687 | killagreg | 406 | MAX_GAS = ParamSet.Gas_Max; |
| 407 | MIN_GAS = ParamSet.Gas_Min; |
||
| 1 | ingob | 408 | } |
| 409 | |||
| 410 | |||
| 411 | //############################################################################ |
||
| 412 | // |
||
| 413 | void MotorRegler(void) |
||
| 414 | //############################################################################ |
||
| 415 | { |
||
| 416 | int motorwert,pd_ergebnis,h,tmp_int; |
||
| 417 | int GierMischanteil,GasMischanteil; |
||
| 418 | static long SummeNick=0,SummeRoll=0; |
||
| 419 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 395 | hbuss | 420 | static long IntegralFehlerNick = 0; |
| 421 | static long IntegralFehlerRoll = 0; |
||
| 1 | ingob | 422 | static unsigned int RcLostTimer; |
| 423 | static unsigned char delay_neutral = 0; |
||
| 424 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 425 | static unsigned int modell_fliegt = 0; |
||
| 426 | static int hoehenregler = 0; |
||
| 427 | static char TimerWerteausgabe = 0; |
||
| 428 | static char NeueKompassRichtungMerken = 0; |
||
| 395 | hbuss | 429 | static long ausgleichNick, ausgleichRoll; |
| 1 | ingob | 430 | |
| 683 | killagreg | 431 | Mittelwert(); |
| 432 | |||
| 1 | ingob | 433 | GRN_ON; |
| 683 | killagreg | 434 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 435 | // Gaswert ermitteln |
| 683 | killagreg | 436 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 437 | GasMischanteil = StickGas; |
||
| 1 | ingob | 438 | if(GasMischanteil < 0) GasMischanteil = 0; |
| 683 | killagreg | 439 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 440 | // Emfang schlecht |
| 683 | killagreg | 441 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 442 | if(SenderOkay < 100) |
| 443 | { |
||
| 683 | killagreg | 444 | if(!PcZugriff) |
| 173 | holgerb | 445 | { |
| 683 | killagreg | 446 | if(BeepModulation == 0xFFFF) |
| 447 | { |
||
| 448 | BeepTime = 15000; // 1.5 seconds |
||
| 449 | BeepModulation = 0x0C00; |
||
| 450 | } |
||
| 173 | holgerb | 451 | } |
| 683 | killagreg | 452 | if(RcLostTimer) RcLostTimer--; |
| 453 | else |
||
| 1 | ingob | 454 | { |
| 455 | MotorenEin = 0; |
||
| 456 | Notlandung = 0; |
||
| 683 | killagreg | 457 | } |
| 1 | ingob | 458 | ROT_ON; |
| 459 | if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
||
| 460 | { |
||
| 690 | killagreg | 461 | GasMischanteil = ParamSet.EmergencyGas; |
| 1 | ingob | 462 | Notlandung = 1; |
| 690 | killagreg | 463 | PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
| 464 | PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
||
| 465 | PPM_in[ParamSet.ChannelAssignment[CH_GIER]] = 0; |
||
| 173 | holgerb | 466 | } |
| 1 | ingob | 467 | else MotorenEin = 0; |
| 468 | } |
||
| 683 | killagreg | 469 | else |
| 470 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 471 | // Emfang gut |
| 683 | killagreg | 472 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 473 | if(SenderOkay > 140) |
| 474 | { |
||
| 475 | Notlandung = 0; |
||
| 690 | killagreg | 476 | RcLostTimer = ParamSet.EmergencyGasDuration * 50; |
| 1 | ingob | 477 | if(GasMischanteil > 40) |
| 478 | { |
||
| 479 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 480 | } |
||
| 481 | if((modell_fliegt < 200) || (GasMischanteil < 40)) |
||
| 482 | { |
||
| 483 | SummeNick = 0; |
||
| 484 | SummeRoll = 0; |
||
| 683 | killagreg | 485 | Mess_Integral_Gier = 0; |
| 1 | ingob | 486 | Mess_Integral_Gier2 = 0; |
| 487 | } |
||
| 690 | killagreg | 488 | if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && MotorenEin == 0) |
| 1 | ingob | 489 | { |
| 683 | killagreg | 490 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 491 | // auf Nullwerte kalibrieren |
| 683 | killagreg | 492 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 690 | killagreg | 493 | if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 75) // Neutralwerte |
| 1 | ingob | 494 | { |
| 495 | if(++delay_neutral > 200) // nicht sofort |
||
| 496 | { |
||
| 497 | GRN_OFF; |
||
| 498 | MotorenEin = 0; |
||
| 499 | delay_neutral = 0; |
||
| 500 | modell_fliegt = 0; |
||
| 690 | killagreg | 501 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
| 1 | ingob | 502 | { |
| 304 | ingob | 503 | unsigned char setting=1; |
| 690 | killagreg | 504 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1; |
| 505 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2; |
||
| 506 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3; |
||
| 507 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4; |
||
| 508 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5; |
||
| 687 | killagreg | 509 | SetActiveParamSet(setting); // aktiven Datensatz merken |
| 1 | ingob | 510 | } |
| 690 | killagreg | 511 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Höhenregelung aktiviert? |
| 1 | ingob | 512 | { |
| 513 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
||
| 683 | killagreg | 514 | } |
| 687 | killagreg | 515 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| 173 | holgerb | 516 | SetNeutral(); |
| 687 | killagreg | 517 | Piep(GetActiveParamSet()); |
| 683 | killagreg | 518 | } |
| 1 | ingob | 519 | } |
| 683 | killagreg | 520 | else |
| 690 | killagreg | 521 | if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] < -75) // ACC Neutralwerte speichern |
| 513 | hbuss | 522 | { |
| 523 | if(++delay_neutral > 200) // nicht sofort |
||
| 524 | { |
||
| 525 | GRN_OFF; |
||
| 687 | killagreg | 526 | SetParamByte(PID_ACC_NICK,0xFF); // Werte löschen |
| 513 | hbuss | 527 | MotorenEin = 0; |
| 528 | delay_neutral = 0; |
||
| 529 | modell_fliegt = 0; |
||
| 530 | SetNeutral(); |
||
| 687 | killagreg | 531 | SetParamByte(PID_ACC_NICK, NeutralAccX / 256); // ACC-NeutralWerte speichern |
| 532 | SetParamByte(PID_ACC_NICK+1,NeutralAccX % 256); // ACC-NeutralWerte speichern |
||
| 533 | SetParamByte(PID_ACC_ROLL,NeutralAccY / 256); |
||
| 534 | SetParamByte(PID_ACC_ROLL+1,NeutralAccY % 256); |
||
| 535 | SetParamByte(PID_ACC_Z,(int)NeutralAccZ / 256); |
||
| 536 | SetParamByte(PID_ACC_Z+1,(int)NeutralAccZ % 256); |
||
| 537 | Piep(GetActiveParamSet()); |
||
| 683 | killagreg | 538 | } |
| 513 | hbuss | 539 | } |
| 1 | ingob | 540 | else delay_neutral = 0; |
| 541 | } |
||
| 683 | killagreg | 542 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 543 | // Gas ist unten |
| 683 | killagreg | 544 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 690 | killagreg | 545 | if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < 35-120) |
| 1 | ingob | 546 | { |
| 547 | // Starten |
||
| 690 | killagreg | 548 | if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] < -75) |
| 1 | ingob | 549 | { |
| 683 | killagreg | 550 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 551 | // Einschalten |
| 683 | killagreg | 552 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 553 | if(++delay_einschalten > 200) |
| 554 | { |
||
| 555 | delay_einschalten = 200; |
||
| 556 | modell_fliegt = 1; |
||
| 557 | MotorenEin = 1; |
||
| 558 | sollGier = 0; |
||
| 683 | killagreg | 559 | Mess_Integral_Gier = 0; |
| 1 | ingob | 560 | Mess_Integral_Gier2 = 0; |
| 561 | Mess_IntegralNick = 0; |
||
| 562 | Mess_IntegralRoll = 0; |
||
| 563 | Mess_IntegralNick2 = IntegralNick; |
||
| 564 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 565 | SummeNick = 0; |
||
| 566 | SummeRoll = 0; |
||
| 683 | killagreg | 567 | } |
| 568 | } |
||
| 1 | ingob | 569 | else delay_einschalten = 0; |
| 570 | //Auf Neutralwerte setzen |
||
| 683 | killagreg | 571 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 572 | // Auschalten |
| 683 | killagreg | 573 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 690 | killagreg | 574 | if(PPM_in[ParamSet.ChannelAssignment[CH_GIER]] > 75) |
| 1 | ingob | 575 | { |
| 576 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 577 | { |
||
| 578 | MotorenEin = 0; |
||
| 579 | delay_ausschalten = 200; |
||
| 580 | modell_fliegt = 0; |
||
| 683 | killagreg | 581 | } |
| 1 | ingob | 582 | } |
| 583 | else delay_ausschalten = 0; |
||
| 584 | } |
||
| 585 | } |
||
| 586 | |||
| 683 | killagreg | 587 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 588 | // neue Werte von der Funke |
| 683 | killagreg | 589 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 590 | if(!NewPpmData-- || Notlandung) |
||
| 1 | ingob | 591 | { |
| 492 | hbuss | 592 | int tmp_int; |
| 604 | hbuss | 593 | static int stick_nick,stick_roll; |
| 1 | ingob | 594 | ParameterZuordnung(); |
| 690 | killagreg | 595 | StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_P) / 4; |
| 596 | StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_D; |
||
| 597 | StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
||
| 598 | StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
||
| 604 | hbuss | 599 | |
| 690 | killagreg | 600 | StickGier = -PPM_in[ParamSet.ChannelAssignment[CH_GIER]]; |
| 601 | StickGas = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120; |
||
| 595 | hbuss | 602 | |
| 690 | killagreg | 603 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) > MaxStickNick) |
| 604 | MaxStickNick = abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]); else MaxStickNick--; |
||
| 605 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
||
| 606 | MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); else MaxStickRoll--; |
||
| 614 | hbuss | 607 | if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
| 608 | |||
| 1 | ingob | 609 | GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| 610 | IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
||
| 611 | |||
| 595 | hbuss | 612 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 613 | //+ Digitale Steuerung per DubWise |
||
| 614 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 492 | hbuss | 615 | #define KEY_VALUE (Parameter_UserParam1 * 4) //(Poti3 * 8) |
| 683 | killagreg | 616 | if(DubWiseKeys[1]) BeepTime = 10; |
| 492 | hbuss | 617 | if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
| 618 | if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
||
| 619 | ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
||
| 620 | if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
||
| 621 | if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
||
| 622 | ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
||
| 623 | |||
| 624 | if(DubWiseKeys[0] & 8) ExternStickGier = 50;else |
||
| 625 | if(DubWiseKeys[0] & 4) ExternStickGier =-50;else ExternStickGier = 0; |
||
| 626 | if(DubWiseKeys[0] & 2) ExternHoehenValue++; |
||
| 627 | if(DubWiseKeys[0] & 16) ExternHoehenValue--; |
||
| 628 | |||
| 629 | StickNick += ExternStickNick / 8; |
||
| 630 | StickRoll += ExternStickRoll / 8; |
||
| 631 | StickGier += ExternStickGier; |
||
| 595 | hbuss | 632 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 633 | //+ Analoge Steuerung per Seriell |
||
| 634 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 635 | if(ExternControl.Config & 0x01 && Parameter_UserParam1 > 128) |
||
| 636 | { |
||
| 687 | killagreg | 637 | StickNick += (int) ExternControl.Nick * (int) ParamSet.Stick_P; |
| 638 | StickRoll += (int) ExternControl.Roll * (int) ParamSet.Stick_P; |
||
| 595 | hbuss | 639 | StickGier += ExternControl.Gier; |
| 687 | killagreg | 640 | ExternHoehenValue = (int) ExternControl.Hight * (int)ParamSet.Hoehe_Verstaerkung; |
| 595 | hbuss | 641 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
| 642 | } |
||
| 492 | hbuss | 643 | |
| 687 | killagreg | 644 | if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 1 | ingob | 645 | if(GyroFaktor < 0) GyroFaktor = 0; |
| 646 | if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
| 683 | killagreg | 647 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 648 | // Looping? |
| 683 | killagreg | 649 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 690 | killagreg | 650 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Links = 1; |
| 683 | killagreg | 651 | else |
| 652 | { |
||
| 395 | hbuss | 653 | { |
| 690 | killagreg | 654 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Links = 0; |
| 683 | killagreg | 655 | } |
| 656 | } |
||
| 690 | killagreg | 657 | if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Rechts = 1; |
| 683 | killagreg | 658 | else |
| 395 | hbuss | 659 | { |
| 660 | if(Looping_Rechts) // Hysterese |
||
| 661 | { |
||
| 690 | killagreg | 662 | if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Rechts = 0; |
| 395 | hbuss | 663 | } |
| 683 | killagreg | 664 | } |
| 173 | holgerb | 665 | |
| 690 | killagreg | 666 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Oben = 1; |
| 683 | killagreg | 667 | else |
| 668 | { |
||
| 395 | hbuss | 669 | if(Looping_Oben) // Hysterese |
| 670 | { |
||
| 690 | killagreg | 671 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Oben = 0; |
| 683 | killagreg | 672 | } |
| 673 | } |
||
| 690 | killagreg | 674 | if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Unten = 1; |
| 683 | killagreg | 675 | else |
| 395 | hbuss | 676 | { |
| 677 | if(Looping_Unten) // Hysterese |
||
| 678 | { |
||
| 690 | killagreg | 679 | if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Unten = 0; |
| 395 | hbuss | 680 | } |
| 683 | killagreg | 681 | } |
| 395 | hbuss | 682 | |
| 683 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 684 | if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
||
| 685 | } // Ende neue Funken-Werte |
||
| 686 | |||
| 683 | killagreg | 687 | if(Looping_Roll) BeepTime = 100; |
| 395 | hbuss | 688 | if(Looping_Roll || Looping_Nick) |
| 689 | { |
||
| 687 | killagreg | 690 | if(GasMischanteil > ParamSet.LoopGasLimit) GasMischanteil = ParamSet.LoopGasLimit; |
| 173 | holgerb | 691 | } |
| 692 | |||
| 683 | killagreg | 693 | |
| 694 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 695 | // Bei Empfangsausfall im Flug |
||
| 696 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 697 | if(Notlandung) |
| 698 | { |
||
| 699 | StickGier = 0; |
||
| 700 | StickNick = 0; |
||
| 701 | StickRoll = 0; |
||
| 702 | GyroFaktor = 0.1; |
||
| 703 | IntegralFaktor = 0.005; |
||
| 173 | holgerb | 704 | Looping_Roll = 0; |
| 705 | Looping_Nick = 0; |
||
| 683 | killagreg | 706 | } |
| 395 | hbuss | 707 | |
| 708 | |||
| 683 | killagreg | 709 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 710 | // Integrale auf ACC-Signal abgleichen |
| 683 | killagreg | 711 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 712 | #define ABGLEICH_ANZAHL 256L |
| 713 | |||
| 714 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 715 | MittelIntegralRoll += IntegralRoll; |
||
| 716 | MittelIntegralNick2 += IntegralNick2; |
||
| 717 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 718 | |||
| 719 | if(Looping_Nick || Looping_Roll) |
||
| 720 | { |
||
| 721 | IntegralAccNick = 0; |
||
| 722 | IntegralAccRoll = 0; |
||
| 723 | MittelIntegralNick = 0; |
||
| 724 | MittelIntegralRoll = 0; |
||
| 725 | MittelIntegralNick2 = 0; |
||
| 726 | MittelIntegralRoll2 = 0; |
||
| 727 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 728 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 729 | ZaehlMessungen = 0; |
||
| 498 | hbuss | 730 | LageKorrekturNick = 0; |
| 731 | LageKorrekturRoll = 0; |
||
| 395 | hbuss | 732 | } |
| 733 | |||
| 683 | killagreg | 734 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 498 | hbuss | 735 | if(!Looping_Nick && !Looping_Roll) |
| 469 | hbuss | 736 | { |
| 737 | long tmp_long, tmp_long2; |
||
| 687 | killagreg | 738 | tmp_long = (long)(IntegralNick / ParamSet.GyroAccFaktor - (long)Mittelwert_AccNick); |
| 739 | tmp_long2 = (long)(IntegralRoll / ParamSet.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
| 469 | hbuss | 740 | tmp_long /= 16; |
| 741 | tmp_long2 /= 16; |
||
| 623 | hbuss | 742 | if((MaxStickNick > 15) || (MaxStickRoll > 15)) |
| 614 | hbuss | 743 | { |
| 744 | tmp_long /= 3; |
||
| 745 | tmp_long2 /= 3; |
||
| 746 | } |
||
| 690 | killagreg | 747 | if(abs(PPM_in[ParamSet.ChannelAssignment[CH_GIER]]) > 25) |
| 623 | hbuss | 748 | { |
| 749 | tmp_long /= 3; |
||
| 750 | tmp_long2 /= 3; |
||
| 751 | } |
||
| 614 | hbuss | 752 | |
| 753 | #define AUSGLEICH 32 |
||
| 469 | hbuss | 754 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| 755 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 756 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 757 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 614 | hbuss | 758 | |
| 469 | hbuss | 759 | Mess_IntegralNick -= tmp_long; |
| 760 | Mess_IntegralRoll -= tmp_long2; |
||
| 761 | } |
||
| 683 | killagreg | 762 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 469 | hbuss | 763 | |
| 395 | hbuss | 764 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| 765 | { |
||
| 766 | static int cnt = 0; |
||
| 767 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 768 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 297 | holgerb | 769 | if(!Looping_Nick && !Looping_Roll) |
| 173 | holgerb | 770 | { |
| 395 | hbuss | 771 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
| 772 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 687 | killagreg | 773 | IntegralAccNick = (ParamSet.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
| 774 | IntegralAccRoll = (ParamSet.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 395 | hbuss | 775 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
| 492 | hbuss | 776 | #define MAX_I 0//(Poti2/10) |
| 395 | hbuss | 777 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 778 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 687 | killagreg | 779 | ausgleichNick = IntegralFehlerNick / ParamSet.GyroAccAbgleich; |
| 683 | killagreg | 780 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 781 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 687 | killagreg | 782 | ausgleichRoll = IntegralFehlerRoll / ParamSet.GyroAccAbgleich; |
| 614 | hbuss | 783 | |
| 784 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 498 | hbuss | 785 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 786 | |
| 690 | killagreg | 787 | if((MaxStickNick > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_GIER]]) > 25)) |
| 614 | hbuss | 788 | { |
| 789 | LageKorrekturNick /= 2; |
||
| 790 | LageKorrekturNick /= 2; |
||
| 791 | } |
||
| 498 | hbuss | 792 | |
| 683 | killagreg | 793 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 794 | // Gyro-Drift ermitteln |
| 683 | killagreg | 795 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 796 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| 797 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 683 | killagreg | 798 | tmp_long = IntegralNick2 - IntegralNick; |
| 799 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 395 | hbuss | 800 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| 801 | |||
| 802 | IntegralFehlerNick = tmp_long; |
||
| 803 | IntegralFehlerRoll = tmp_long2; |
||
| 804 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 805 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 806 | |||
| 807 | // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
||
| 808 | // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
||
| 809 | |||
| 810 | |||
| 811 | DebugOut.Analog[17] = IntegralAccNick / 26; |
||
| 812 | DebugOut.Analog[18] = IntegralAccRoll / 26; |
||
| 813 | DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
||
| 814 | DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
||
| 815 | DebugOut.Analog[21] = MittelIntegralNick / 26; |
||
| 816 | DebugOut.Analog[22] = MittelIntegralRoll / 26; |
||
| 469 | hbuss | 817 | //DebugOut.Analog[28] = ausgleichNick; |
| 395 | hbuss | 818 | DebugOut.Analog[29] = ausgleichRoll; |
| 498 | hbuss | 819 | DebugOut.Analog[30] = LageKorrekturRoll * 10; |
| 395 | hbuss | 820 | |
| 492 | hbuss | 821 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
| 822 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
||
| 823 | #define BEWEGUNGS_LIMIT 20000 |
||
| 395 | hbuss | 824 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 825 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 492 | hbuss | 826 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT) |
| 827 | { |
||
| 683 | killagreg | 828 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
| 395 | hbuss | 829 | { |
| 683 | killagreg | 830 | if(last_n_p) |
| 395 | hbuss | 831 | { |
| 683 | killagreg | 832 | cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
| 492 | hbuss | 833 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 834 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
| 498 | hbuss | 835 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 683 | killagreg | 836 | } |
| 395 | hbuss | 837 | else last_n_p = 1; |
| 838 | } else last_n_p = 0; |
||
| 683 | killagreg | 839 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| 395 | hbuss | 840 | { |
| 841 | if(last_n_n) |
||
| 683 | killagreg | 842 | { |
| 843 | cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
||
| 492 | hbuss | 844 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 845 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
| 498 | hbuss | 846 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 683 | killagreg | 847 | } |
| 395 | hbuss | 848 | else last_n_n = 1; |
| 849 | } else last_n_n = 0; |
||
| 492 | hbuss | 850 | } else cnt = 0; |
| 690 | killagreg | 851 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
| 395 | hbuss | 852 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| 853 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 401 | hbuss | 854 | |
| 395 | hbuss | 855 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 492 | hbuss | 856 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| 857 | |||
| 498 | hbuss | 858 | ausgleichRoll = 0; |
| 492 | hbuss | 859 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT) |
| 860 | { |
||
| 683 | killagreg | 861 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| 395 | hbuss | 862 | { |
| 683 | killagreg | 863 | if(last_r_p) |
| 395 | hbuss | 864 | { |
| 683 | killagreg | 865 | cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| 492 | hbuss | 866 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 867 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| 498 | hbuss | 868 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 683 | killagreg | 869 | } |
| 395 | hbuss | 870 | else last_r_p = 1; |
| 871 | } else last_r_p = 0; |
||
| 683 | killagreg | 872 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| 395 | hbuss | 873 | { |
| 683 | killagreg | 874 | if(last_r_n) |
| 395 | hbuss | 875 | { |
| 683 | killagreg | 876 | cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| 492 | hbuss | 877 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 878 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| 498 | hbuss | 879 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 880 | } |
| 881 | else last_r_n = 1; |
||
| 882 | } else last_r_n = 0; |
||
| 683 | killagreg | 883 | } else |
| 492 | hbuss | 884 | { |
| 885 | cnt = 0; |
||
| 683 | killagreg | 886 | } |
| 614 | hbuss | 887 | |
| 690 | killagreg | 888 | if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
| 395 | hbuss | 889 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| 890 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 614 | hbuss | 891 | DebugOut.Analog[27] = ausgleichRoll; |
| 492 | hbuss | 892 | DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
| 401 | hbuss | 893 | DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
| 173 | holgerb | 894 | } |
| 683 | killagreg | 895 | else |
| 498 | hbuss | 896 | { |
| 897 | LageKorrekturRoll = 0; |
||
| 898 | LageKorrekturNick = 0; |
||
| 899 | } |
||
| 595 | hbuss | 900 | |
| 498 | hbuss | 901 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| 683 | killagreg | 902 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 903 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 904 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 905 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 395 | hbuss | 906 | IntegralAccNick = 0; |
| 907 | IntegralAccRoll = 0; |
||
| 908 | IntegralAccZ = 0; |
||
| 909 | MittelIntegralNick = 0; |
||
| 910 | MittelIntegralRoll = 0; |
||
| 911 | MittelIntegralNick2 = 0; |
||
| 912 | MittelIntegralRoll2 = 0; |
||
| 913 | ZaehlMessungen = 0; |
||
| 914 | } |
||
| 469 | hbuss | 915 | //DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor); |
| 395 | hbuss | 916 | |
| 683 | killagreg | 917 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 918 | // Gieren |
| 683 | killagreg | 919 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 920 | if(abs(StickGier) > 20) // war 35 |
||
| 1 | ingob | 921 | { |
| 690 | killagreg | 922 | if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| 1 | ingob | 923 | } |
| 687 | killagreg | 924 | tmp_int = (long) ParamSet.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| 925 | tmp_int += (ParamSet.Gier_P * StickGier) / 4; |
||
| 173 | holgerb | 926 | sollGier = tmp_int; |
| 683 | killagreg | 927 | Mess_Integral_Gier -= tmp_int; |
| 395 | hbuss | 928 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| 929 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
| 683 | killagreg | 930 | |
| 931 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 932 | // Kompass |
| 683 | killagreg | 933 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 690 | killagreg | 934 | if(KompassValue && (ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
| 1 | ingob | 935 | { |
| 936 | int w,v; |
||
| 683 | killagreg | 937 | static int SignalSchlecht = 0; |
| 1 | ingob | 938 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| 939 | v = abs(IntegralRoll /512); |
||
| 940 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 683 | killagreg | 941 | if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
| 942 | { |
||
| 1 | ingob | 943 | KompassStartwert = KompassValue; |
| 944 | NeueKompassRichtungMerken = 0; |
||
| 945 | } |
||
| 946 | w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
||
| 947 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
||
| 948 | if(w > 0) |
||
| 949 | { |
||
| 950 | if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
||
| 951 | if(SignalSchlecht) SignalSchlecht--; |
||
| 683 | killagreg | 952 | } |
| 1 | ingob | 953 | else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| 683 | killagreg | 954 | } |
| 955 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 956 | |
| 683 | killagreg | 957 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 958 | // Debugwerte zuordnen |
| 683 | killagreg | 959 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 960 | if(!TimerWerteausgabe--) |
| 961 | { |
||
| 395 | hbuss | 962 | TimerWerteausgabe = 24; |
| 687 | killagreg | 963 | DebugOut.Analog[0] = IntegralNick / ParamSet.GyroAccFaktor; |
| 964 | DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFaktor; |
||
| 1 | ingob | 965 | DebugOut.Analog[2] = Mittelwert_AccNick; |
| 966 | DebugOut.Analog[3] = Mittelwert_AccRoll; |
||
| 967 | DebugOut.Analog[4] = MesswertGier; |
||
| 968 | DebugOut.Analog[5] = HoehenWert; |
||
| 395 | hbuss | 969 | DebugOut.Analog[6] =(Mess_Integral_Hoch / 512); |
| 1 | ingob | 970 | DebugOut.Analog[8] = KompassValue; |
| 297 | holgerb | 971 | DebugOut.Analog[9] = UBat; |
| 972 | DebugOut.Analog[10] = SenderOkay; |
||
| 395 | hbuss | 973 | DebugOut.Analog[16] = Mittelwert_AccHoch; |
| 173 | holgerb | 974 | |
| 975 | /* DebugOut.Analog[16] = motor_rx[0]; |
||
| 976 | DebugOut.Analog[17] = motor_rx[1]; |
||
| 977 | DebugOut.Analog[18] = motor_rx[2]; |
||
| 978 | DebugOut.Analog[19] = motor_rx[3]; |
||
| 979 | DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
||
| 980 | DebugOut.Analog[20] /= 14; |
||
| 981 | DebugOut.Analog[21] = motor_rx[4]; |
||
| 982 | DebugOut.Analog[22] = motor_rx[5]; |
||
| 983 | DebugOut.Analog[23] = motor_rx[6]; |
||
| 984 | DebugOut.Analog[24] = motor_rx[7]; |
||
| 985 | DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
||
| 986 | */ |
||
| 987 | // DebugOut.Analog[9] = MesswertNick; |
||
| 1 | ingob | 988 | // DebugOut.Analog[9] = SollHoehe; |
| 989 | // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
||
| 990 | // DebugOut.Analog[11] = KompassStartwert; |
||
| 683 | killagreg | 991 | // DebugOut.Analog[10] = Parameter_Gyro_I; |
| 687 | killagreg | 992 | // DebugOut.Analog[10] = ParamSet.Gyro_I; |
| 683 | killagreg | 993 | // DebugOut.Analog[9] = KompassRichtung; |
| 1 | ingob | 994 | // DebugOut.Analog[10] = GasMischanteil; |
| 995 | // DebugOut.Analog[3] = HoeheD * 32; |
||
| 996 | // DebugOut.Analog[4] = hoehenregler; |
||
| 997 | } |
||
| 998 | |||
| 683 | killagreg | 999 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1000 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| 683 | killagreg | 1001 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 604 | hbuss | 1002 | //DebugOut.Analog[26] = MesswertNick; |
| 1003 | //DebugOut.Analog[28] = MesswertRoll; |
||
| 1004 | |||
| 173 | holgerb | 1005 | if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor; |
| 1006 | else MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
||
| 1007 | if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor; |
||
| 1008 | else MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
||
| 623 | hbuss | 1009 | MesswertGier = MesswertGier * (2 * GyroFaktor) + Integral_Gier * IntegralFaktor / 2; |
| 1 | ingob | 1010 | |
| 469 | hbuss | 1011 | DebugOut.Analog[25] = IntegralRoll * IntegralFaktor; |
| 1012 | DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor); |
||
| 604 | hbuss | 1013 | DebugOut.Analog[28] = MesswertRoll; |
| 469 | hbuss | 1014 | |
| 1 | ingob | 1015 | // Maximalwerte abfangen |
| 1016 | #define MAX_SENSOR 2048 |
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| 1017 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
||
| 1018 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
||
| 1019 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1020 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1021 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1022 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
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| 1023 | |||
| 683 | killagreg | 1024 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1025 | // Höhenregelung |
| 1026 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
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| 683 | killagreg | 1027 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1028 | //OCR0B = 180 - (Poti1 + 120) / 4; |
| 1029 | //DruckOffsetSetting = OCR0B; |
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| 690 | killagreg | 1030 | if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Höhenregelung |
| 1 | ingob | 1031 | { |
| 1032 | int tmp_int; |
||
| 690 | killagreg | 1033 | if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) // Regler wird über Schalter gesteuert |
| 1 | ingob | 1034 | { |
| 683 | killagreg | 1035 | if(Parameter_MaxHoehe < 50) |
| 1 | ingob | 1036 | { |
| 1037 | SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
||
| 1038 | HoehenReglerAktiv = 0; |
||
| 1039 | } |
||
| 683 | killagreg | 1040 | else |
| 1 | ingob | 1041 | HoehenReglerAktiv = 1; |
| 1042 | } |
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| 683 | killagreg | 1043 | else |
| 1 | ingob | 1044 | { |
| 687 | killagreg | 1045 | SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)ParamSet.Hoehe_Verstaerkung - 20; |
| 1 | ingob | 1046 | HoehenReglerAktiv = 1; |
| 1047 | } |
||
| 1048 | |||
| 1049 | if(Notlandung) SollHoehe = 0; |
||
| 1050 | h = HoehenWert; |
||
| 1051 | if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
||
| 1052 | { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
||
| 1053 | h = GasMischanteil - h; // vom Gas abziehen |
||
| 1054 | h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
||
| 1055 | tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
||
| 1056 | if(tmp_int > 50) tmp_int = 50; |
||
| 1057 | else if(tmp_int < -50) tmp_int = -50; |
||
| 1058 | h -= tmp_int; |
||
| 683 | killagreg | 1059 | hoehenregler = (hoehenregler*15 + h) / 16; |
| 687 | killagreg | 1060 | if(hoehenregler < ParamSet.Hoehe_MinGas) // nicht unter MIN |
| 1 | ingob | 1061 | { |
| 687 | killagreg | 1062 | if(GasMischanteil >= ParamSet.Hoehe_MinGas) hoehenregler = ParamSet.Hoehe_MinGas; |
| 1063 | if(GasMischanteil < ParamSet.Hoehe_MinGas) hoehenregler = GasMischanteil; |
||
| 683 | killagreg | 1064 | } |
| 1 | ingob | 1065 | if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| 1066 | GasMischanteil = hoehenregler; |
||
| 683 | killagreg | 1067 | } |
| 1 | ingob | 1068 | } |
| 595 | hbuss | 1069 | if(GasMischanteil > MAX_GAS - 20) GasMischanteil = MAX_GAS - 20; |
| 683 | killagreg | 1070 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1071 | // + Mischer und PI-Regler |
| 683 | killagreg | 1072 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 1073 | DebugOut.Analog[7] = GasMischanteil; |
| 683 | killagreg | 1074 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1075 | // Gier-Anteil |
| 683 | killagreg | 1076 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 188 | holgerb | 1077 | #define MUL_G 1.0 |
| 173 | holgerb | 1078 | GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| 604 | hbuss | 1079 | // GierMischanteil = 0; |
| 173 | holgerb | 1080 | |
| 683 | killagreg | 1081 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| 1082 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
| 1083 | if(GierMischanteil > ((MAX_GAS - GasMischanteil))) GierMischanteil = ((MAX_GAS - GasMischanteil)); |
||
| 514 | hbuss | 1084 | if(GierMischanteil < -((MAX_GAS - GasMischanteil))) GierMischanteil = -((MAX_GAS - GasMischanteil)); |
| 513 | hbuss | 1085 | |
| 188 | holgerb | 1086 | if(GasMischanteil < 20) GierMischanteil = 0; |
| 683 | killagreg | 1087 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1088 | // Nick-Achse |
| 683 | killagreg | 1089 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 513 | hbuss | 1090 | DiffNick = MesswertNick - (StickNick - GPS_Nick); // Differenz bestimmen |
| 498 | hbuss | 1091 | if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - (StickNick - GPS_Nick); // I-Anteil bei Winkelregelung |
| 683 | killagreg | 1092 | else SummeNick += DiffNick; // I-Anteil bei HH |
| 1 | ingob | 1093 | if(SummeNick > 16000) SummeNick = 16000; |
| 1094 | if(SummeNick < -16000) SummeNick = -16000; |
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| 683 | killagreg | 1095 | pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| 1 | ingob | 1096 | // Motor Vorn |
| 499 | hbuss | 1097 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 683 | killagreg | 1098 | if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| 1099 | if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
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| 173 | holgerb | 1100 | |
| 1 | ingob | 1101 | motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| 173 | holgerb | 1102 | if ((motorwert < 0)) motorwert = 0; |
| 1 | ingob | 1103 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| 683 | killagreg | 1104 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| 1105 | Motor_Vorne = motorwert; |
||
| 1 | ingob | 1106 | // Motor Heck |
| 1107 | motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
||
| 173 | holgerb | 1108 | if ((motorwert < 0)) motorwert = 0; |
| 1 | ingob | 1109 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| 1110 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
||
| 683 | killagreg | 1111 | Motor_Hinten = motorwert; |
| 1112 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1113 | // Roll-Achse |
| 683 | killagreg | 1114 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 513 | hbuss | 1115 | DiffRoll = MesswertRoll - (StickRoll - GPS_Roll); // Differenz bestimmen |
| 498 | hbuss | 1116 | if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - (StickRoll - GPS_Roll);// I-Anteil bei Winkelregelung |
| 1117 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 1 | ingob | 1118 | if(SummeRoll > 16000) SummeRoll = 16000; |
| 1119 | if(SummeRoll < -16000) SummeRoll = -16000; |
||
| 297 | holgerb | 1120 | pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| 499 | hbuss | 1121 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 683 | killagreg | 1122 | if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| 1123 | if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
||
| 1 | ingob | 1124 | // Motor Links |
| 1125 | motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
||
| 604 | hbuss | 1126 | #define GRENZE Poti1 |
| 1127 | |||
| 173 | holgerb | 1128 | if ((motorwert < 0)) motorwert = 0; |
| 1 | ingob | 1129 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| 1130 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
||
| 683 | killagreg | 1131 | Motor_Links = motorwert; |
| 1 | ingob | 1132 | // Motor Rechts |
| 1133 | motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
||
| 604 | hbuss | 1134 | |
| 173 | holgerb | 1135 | if ((motorwert < 0)) motorwert = 0; |
| 1 | ingob | 1136 | else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| 683 | killagreg | 1137 | if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| 1138 | Motor_Rechts = motorwert; |
||
| 1 | ingob | 1139 | // +++++++++++++++++++++++++++++++++++++++++++++++ |
| 1140 | } |
||
| 1141 |