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1 ingob 1
/*#######################################################################################
2
Flight Control
3
#######################################################################################*/
4
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 5
// + Copyright (c) Holger Buss, Ingo Busker
6
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
1 ingob 7
// + www.MikroKopter.com
8
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 27
// + Die Portierung oder Nutzung 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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 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
35
// +     from this software without specific prior written permission.
1051 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)
1051 killagreg 38
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 39
// +     with our written permission
1051 killagreg 40
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
41
// +     clearly linked as origin
1338 ingob 42
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
1 ingob 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
45
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
46
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
47
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
48
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
49
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
1322 hbuss 50
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
51
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
1 ingob 52
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
1051 killagreg 53
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 54
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
55
 
56
#include "main.h"
395 hbuss 57
#include "eeprom.c"
1320 hbuss 58
#include "mymath.h"
1330 killagreg 59
#include "isqrt.h"
1 ingob 60
 
1352 hbuss 61
unsigned char h,m,s;
62
unsigned int BaroExpandActive = 0;
173 holgerb 63
volatile unsigned int I2CTimeout = 100;
1153 hbuss 64
int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll;
1166 hbuss 65
int TrimNick, TrimRoll;
1051 killagreg 66
int AdNeutralGierBias;
927 hbuss 67
int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
68
int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0;
805 hbuss 69
int NaviAccNick, NaviAccRoll,NaviCntAcc = 0;
1 ingob 70
volatile float NeutralAccZ = 0;
71
unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0;
693 hbuss 72
long IntegralNick = 0,IntegralNick2 = 0;
73
long IntegralRoll = 0,IntegralRoll2 = 0;
74
long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
75
long Integral_Gier = 0;
76
long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0;
77
long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0;
78
long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
79
long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2;
1 ingob 80
volatile long Mess_Integral_Hoch = 0;
1153 hbuss 81
int  KompassValue = 0;
82
int  KompassStartwert = 0;
83
int  KompassRichtung = 0;
693 hbuss 84
unsigned int  KompassSignalSchlecht = 500;
855 hbuss 85
unsigned char  MAX_GAS,MIN_GAS;
1 ingob 86
unsigned char HoehenReglerAktiv = 0;
880 hbuss 87
unsigned char TrichterFlug = 0;
395 hbuss 88
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
693 hbuss 89
long  ErsatzKompass;
90
int   ErsatzKompassInGrad; // Kompasswert in Grad
91
int   GierGyroFehler = 0;
1211 hbuss 92
char GyroFaktor,GyroFaktorGier;
93
char IntegralFaktor,IntegralFaktorGier;
1153 hbuss 94
int  DiffNick,DiffRoll;
1051 killagreg 95
int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
1 ingob 96
volatile unsigned char SenderOkay = 0;
1243 killagreg 97
volatile unsigned char SenderRSSI = 0;
595 hbuss 98
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
1 ingob 99
char MotorenEin = 0;
1246 killagreg 100
long HoehenWert = 0;
101
long SollHoehe = 0;
498 hbuss 102
int LageKorrekturRoll = 0,LageKorrekturNick = 0;
1153 hbuss 103
//float Ki =  FAKTOR_I;
104
int Ki = 10300 / 33;
395 hbuss 105
unsigned char Looping_Nick = 0,Looping_Roll = 0;
106
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
1 ingob 107
 
108
unsigned char Parameter_Luftdruck_D  = 48;      // Wert : 0-250
109
unsigned char Parameter_MaxHoehe     = 251;      // Wert : 0-250
110
unsigned char Parameter_Hoehe_P      = 16;      // Wert : 0-32
111
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
112
unsigned char Parameter_KompassWirkung = 64;    // Wert : 0-250
1283 hbuss 113
unsigned char Parameter_Hoehe_GPS_Z = 64;        // Wert : 0-250
1111 hbuss 114
unsigned char Parameter_Gyro_D = 8;             // Wert : 0-250
173 holgerb 115
unsigned char Parameter_Gyro_P = 150;           // Wert : 10-250
1 ingob 116
unsigned char Parameter_Gyro_I = 150;           // Wert : 0-250
1322 hbuss 117
unsigned char Parameter_Gyro_Gier_P = 150;      // Wert : 10-250
118
unsigned char Parameter_Gyro_Gier_I = 150;      // Wert : 10-250
1 ingob 119
unsigned char Parameter_Gier_P = 2;             // Wert : 1-20
120
unsigned char Parameter_I_Faktor = 10;          // Wert : 1-20
121
unsigned char Parameter_UserParam1 = 0;
122
unsigned char Parameter_UserParam2 = 0;
123
unsigned char Parameter_UserParam3 = 0;
124
unsigned char Parameter_UserParam4 = 0;
499 hbuss 125
unsigned char Parameter_UserParam5 = 0;
126
unsigned char Parameter_UserParam6 = 0;
127
unsigned char Parameter_UserParam7 = 0;
128
unsigned char Parameter_UserParam8 = 0;
1 ingob 129
unsigned char Parameter_ServoNickControl = 100;
1232 hbuss 130
unsigned char Parameter_ServoRollControl = 100;
173 holgerb 131
unsigned char Parameter_LoopGasLimit = 70;
1120 hbuss 132
unsigned char Parameter_AchsKopplung1 = 90;
133
unsigned char Parameter_AchsKopplung2 = 65;
134
unsigned char Parameter_CouplingYawCorrection = 64;
135
//unsigned char Parameter_AchsGegenKopplung1 = 0;
499 hbuss 136
unsigned char Parameter_DynamicStability = 100;
921 hbuss 137
unsigned char Parameter_J16Bitmask;             // for the J16 Output
138
unsigned char Parameter_J16Timing;              // for the J16 Output
139
unsigned char Parameter_J17Bitmask;             // for the J17 Output
140
unsigned char Parameter_J17Timing;              // for the J17 Output
141
unsigned char Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 142
unsigned char Parameter_NaviGpsGain;
143
unsigned char Parameter_NaviGpsP;
144
unsigned char Parameter_NaviGpsI;
145
unsigned char Parameter_NaviGpsD;
146
unsigned char Parameter_NaviGpsACC;
993 hbuss 147
unsigned char Parameter_NaviOperatingRadius;
148
unsigned char Parameter_NaviWindCorrection;
149
unsigned char Parameter_NaviSpeedCompensation;
921 hbuss 150
unsigned char Parameter_ExternalControl;
1 ingob 151
struct mk_param_struct EE_Parameter;
492 hbuss 152
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
614 hbuss 153
int MaxStickNick = 0,MaxStickRoll = 0;
871 hbuss 154
unsigned int  modell_fliegt = 0;
1209 hbuss 155
volatile unsigned char MikroKopterFlags = 0;
1121 hbuss 156
long GIER_GRAD_FAKTOR = 1291;
1153 hbuss 157
signed int KopplungsteilNickRoll,KopplungsteilRollNick;
1209 hbuss 158
unsigned char RequiredMotors = 4;
159
unsigned char Motor[MAX_MOTORS];
160
signed int tmp_motorwert[MAX_MOTORS];
1328 hbuss 161
unsigned char LoadHandler = 0;
1309 hbuss 162
#define LIMIT_MIN(value, min) {if(value < min) value = min;}
163
#define LIMIT_MAX(value, max) {if(value > max) value = max;}
164
#define LIMIT_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
1155 hbuss 165
 
1166 hbuss 166
int MotorSmoothing(int neu, int alt)
167
{
168
 int motor;
1495 FredericG 169
 if(neu > alt)
170
 {
171
        motor = (1*(int)alt + neu) / 2;
172
 }
173
 else
174
 {
175
        // Code taken from Arthur
176
        if(Parameter_UserParam1 < 1)
177
        { // Original function
178
                motor = neu - (alt - neu)*1;
179
        }
180
        else
181
        {
182
                if(Parameter_UserParam1 == 1)  // If userpara1 = 1 then 150% down on the first step followed by upsmoothing.
183
                {
184
                        motor = neu - (1*(alt - neu)/2);
185
                }
186
                else // If userpara1 > 1 then allow >= 50% of the intended step down to rapidly reach the intended value.
187
                {
188
                        motor = neu + ((alt - neu)/Parameter_UserParam1);
189
                }
190
        }
191
 }
1166 hbuss 192
 return(motor);
193
}
194
 
1232 hbuss 195
void Piep(unsigned char Anzahl, unsigned int dauer)
1 ingob 196
{
1232 hbuss 197
 if(MotorenEin) return; //auf keinen Fall im Flug!
1 ingob 198
 while(Anzahl--)
199
 {
1232 hbuss 200
  beeptime = dauer;
201
  while(beeptime);
202
  Delay_ms(dauer * 2);
1 ingob 203
 }
204
}
205
 
206
//############################################################################
207
//  Nullwerte ermitteln
208
void SetNeutral(void)
209
//############################################################################
210
{
1111 hbuss 211
 unsigned char i;
212
 unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0;
1320 hbuss 213
    HEF4017R_ON;
1051 killagreg 214
        NeutralAccX = 0;
1 ingob 215
        NeutralAccY = 0;
216
        NeutralAccZ = 0;
1051 killagreg 217
    AdNeutralNick = 0;
218
        AdNeutralRoll = 0;
1 ingob 219
        AdNeutralGier = 0;
927 hbuss 220
    AdNeutralGierBias = 0;
395 hbuss 221
    Parameter_AchsKopplung1 = 0;
1120 hbuss 222
    Parameter_AchsKopplung2 = 0;
1036 hbuss 223
    ExpandBaro = 0;
1051 killagreg 224
    CalibrierMittelwert();
395 hbuss 225
    Delay_ms_Mess(100);
1 ingob 226
        CalibrierMittelwert();
227
    if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
1051 killagreg 228
     {
1 ingob 229
      if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
230
     }
1166 hbuss 231
#define NEUTRAL_FILTER 32
232
    for(i=0; i<NEUTRAL_FILTER; i++)
1111 hbuss 233
         {
234
          Delay_ms_Mess(10);
1216 killagreg 235
          gier_neutral += AdWertGier;
1166 hbuss 236
          nick_neutral += AdWertNick;
237
          roll_neutral += AdWertRoll;
1111 hbuss 238
         }
1173 hbuss 239
     AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
240
         AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
241
         AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
1111 hbuss 242
     AdNeutralGierBias = AdNeutralGier;
401 hbuss 243
     StartNeutralRoll = AdNeutralRoll;
244
     StartNeutralNick = AdNeutralNick;
1051 killagreg 245
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
513 hbuss 246
    {
1171 hbuss 247
      NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
248
          NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
513 hbuss 249
          NeutralAccZ = Aktuell_az;
250
    }
1051 killagreg 251
    else
513 hbuss 252
    {
253
      NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]);
254
          NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]);
255
          NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]);
256
    }
1051 killagreg 257
 
1 ingob 258
    MesswertNick = 0;
259
    MesswertRoll = 0;
260
    MesswertGier = 0;
1111 hbuss 261
    Delay_ms_Mess(100);
1174 hbuss 262
    Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
263
    Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
1173 hbuss 264
    IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
265
    IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
266
    Mess_IntegralNick2 = IntegralNick;
267
    Mess_IntegralRoll2 = IntegralRoll;
268
    Mess_Integral_Gier = 0;
1 ingob 269
    StartLuftdruck = Luftdruck;
1253 killagreg 270
    VarioMeter = 0;
1 ingob 271
    Mess_Integral_Hoch = 0;
272
    KompassStartwert = KompassValue;
273
    GPS_Neutral();
1051 killagreg 274
    beeptime = 50;
882 hbuss 275
        Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L;
276
        Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L;
492 hbuss 277
    ExternHoehenValue = 0;
693 hbuss 278
    ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
279
    GierGyroFehler = 0;
723 hbuss 280
    SendVersionToNavi = 1;
921 hbuss 281
    LED_Init();
282
    MikroKopterFlags |= FLAG_CALIBRATE;
992 hbuss 283
    FromNaviCtrl_Value.Kalman_K = -1;
1173 hbuss 284
    FromNaviCtrl_Value.Kalman_MaxDrift = 0;
992 hbuss 285
    FromNaviCtrl_Value.Kalman_MaxFusion = 32;
1172 hbuss 286
    Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110;
287
    Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110;
288
    Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110;
289
    Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110;
1171 hbuss 290
    SenderOkay = 100;
1320 hbuss 291
    if(ServoActive)
292
         {
293
                HEF4017R_ON;
294
                DDRD  |=0x80; // enable J7 -> Servo signal
295
     }
1 ingob 296
}
297
 
298
//############################################################################
395 hbuss 299
// Bearbeitet die Messwerte
1 ingob 300
void Mittelwert(void)
301
//############################################################################
1051 killagreg 302
{
1111 hbuss 303
    static signed long tmpl,tmpl2,tmpl3,tmpl4;
304
        static signed int oldNick, oldRoll, d2Roll, d2Nick;
1153 hbuss 305
        signed long winkel_nick, winkel_roll;
1171 hbuss 306
 
1111 hbuss 307
        MesswertGier = (signed int) AdNeutralGier - AdWertGier;
308
//    MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier;
1171 hbuss 309
    MesswertNick = (signed int) AdWertNickFilter / 8;
310
    MesswertRoll = (signed int) AdWertRollFilter / 8;
1153 hbuss 311
    RohMesswertNick = MesswertNick;
312
    RohMesswertRoll = MesswertRoll;
1166 hbuss 313
 
395 hbuss 314
// Beschleunigungssensor  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 315
        Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L;
316
        Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L;
317
        Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L;
395 hbuss 318
    IntegralAccNick += ACC_AMPLIFY * AdWertAccNick;
319
    IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll;
805 hbuss 320
    NaviAccNick    += AdWertAccNick;
321
    NaviAccRoll    += AdWertAccRoll;
322
    NaviCntAcc++;
1153 hbuss 323
    IntegralAccZ  += Aktuell_az - NeutralAccZ;
324
 
1155 hbuss 325
//++++++++++++++++++++++++++++++++++++++++++++++++
326
// ADC einschalten
1171 hbuss 327
    ANALOG_ON;
1155 hbuss 328
        AdReady = 0;
329
//++++++++++++++++++++++++++++++++++++++++++++++++
330
 
1216 killagreg 331
    if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L;
332
        else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L;
1153 hbuss 333
        else winkel_roll = Mess_IntegralRoll;
334
 
1216 killagreg 335
    if(Mess_IntegralNick > 93000L) winkel_nick = 93000L;
336
        else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L;
1153 hbuss 337
        else winkel_nick = Mess_IntegralNick;
338
 
1120 hbuss 339
// Gier  ++++++++++++++++++++++++++++++++++++++++++++++++
1153 hbuss 340
   Mess_Integral_Gier += MesswertGier;
341
   ErsatzKompass += MesswertGier;
395 hbuss 342
// Kopplungsanteil  +++++++++++++++++++++++++++++++++++++
343
      if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV))
344
         {
1153 hbuss 345
            tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
1120 hbuss 346
            tmpl3 *= Parameter_AchsKopplung2; //65
1111 hbuss 347
            tmpl3 /= 4096L;
1153 hbuss 348
            tmpl4 = (MesswertNick * winkel_roll) / 2048L;
1216 killagreg 349
            tmpl4 *= Parameter_AchsKopplung2; //65
1111 hbuss 350
            tmpl4 /= 4096L;
1153 hbuss 351
            KopplungsteilNickRoll = tmpl3;
352
            KopplungsteilRollNick = tmpl4;
1111 hbuss 353
            tmpl4 -= tmpl3;
354
            ErsatzKompass += tmpl4;
1166 hbuss 355
            if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen
1111 hbuss 356
 
1153 hbuss 357
            tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L;
1111 hbuss 358
            tmpl *= Parameter_AchsKopplung1;  // 90
880 hbuss 359
            tmpl /= 4096L;
1153 hbuss 360
            tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L;
395 hbuss 361
            tmpl2 *= Parameter_AchsKopplung1;
880 hbuss 362
            tmpl2 /= 4096L;
1225 hbuss 363
            if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1;
1153 hbuss 364
            //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
395 hbuss 365
         }
1166 hbuss 366
      else  tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
1111 hbuss 367
 
1166 hbuss 368
TrimRoll = tmpl - tmpl2 / 100L;
369
TrimNick = -tmpl2 + tmpl / 100L;
370
 
1111 hbuss 371
// Kompasswert begrenzen  ++++++++++++++++++++++++++++++++++++++++++++++++
372
                    if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR;  // 360° Umschlag
373
                    if(ErsatzKompass < 0)                          ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
395 hbuss 374
// Roll  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 375
            Mess_IntegralRoll2 += MesswertRoll + TrimRoll;
376
            Mess_IntegralRoll +=  MesswertRoll + TrimRoll - LageKorrekturRoll;
1051 killagreg 377
            if(Mess_IntegralRoll > Umschlag180Roll)
395 hbuss 378
            {
882 hbuss 379
             Mess_IntegralRoll  = -(Umschlag180Roll - 25000L);
395 hbuss 380
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 381
            }
395 hbuss 382
            if(Mess_IntegralRoll <-Umschlag180Roll)
383
            {
882 hbuss 384
             Mess_IntegralRoll =  (Umschlag180Roll - 25000L);
395 hbuss 385
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 386
            }
395 hbuss 387
// Nick  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 388
            Mess_IntegralNick2 += MesswertNick + TrimNick;
389
            Mess_IntegralNick  += MesswertNick + TrimNick - LageKorrekturNick;
1051 killagreg 390
            if(Mess_IntegralNick > Umschlag180Nick)
882 hbuss 391
             {
392
              Mess_IntegralNick = -(Umschlag180Nick - 25000L);
393
              Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 394
             }
395
            if(Mess_IntegralNick <-Umschlag180Nick)
395 hbuss 396
            {
882 hbuss 397
             Mess_IntegralNick =  (Umschlag180Nick - 25000L);
395 hbuss 398
             Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 399
            }
1111 hbuss 400
 
1 ingob 401
    Integral_Gier  = Mess_Integral_Gier;
402
    IntegralNick = Mess_IntegralNick;
403
    IntegralRoll = Mess_IntegralRoll;
1051 killagreg 404
    IntegralNick2 = Mess_IntegralNick2;
1 ingob 405
    IntegralRoll2 = Mess_IntegralRoll2;
406
 
1166 hbuss 407
#define D_LIMIT 128
408
 
1171 hbuss 409
   MesswertNick = HiResNick / 8;
410
   MesswertRoll = HiResRoll / 8;
1166 hbuss 411
 
1167 hbuss 412
   if(AdWertNick < 15)   MesswertNick = -1000;  if(AdWertNick <  7)   MesswertNick = -2000;
413
   if(PlatinenVersion == 10)  { if(AdWertNick > 1010) MesswertNick = +1000;  if(AdWertNick > 1017) MesswertNick = +2000; }
414
   else  {  if(AdWertNick > 2000) MesswertNick = +1000;  if(AdWertNick > 2015) MesswertNick = +2000; }
415
   if(AdWertRoll < 15)   MesswertRoll = -1000;  if(AdWertRoll <  7)   MesswertRoll = -2000;
416
   if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000;  if(AdWertRoll > 1017) MesswertRoll = +2000; }
417
   else { if(AdWertRoll > 2000) MesswertRoll = +1000;  if(AdWertRoll > 2015) MesswertRoll = +2000;  }
418
 
1216 killagreg 419
  if(Parameter_Gyro_D)
1111 hbuss 420
  {
1166 hbuss 421
   d2Nick = HiResNick - oldNick;
422
   oldNick = (oldNick + HiResNick)/2;
1111 hbuss 423
   if(d2Nick > D_LIMIT) d2Nick = D_LIMIT;
424
   else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT;
1166 hbuss 425
   MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16;
426
   d2Roll = HiResRoll - oldRoll;
427
   oldRoll = (oldRoll + HiResRoll)/2;
1111 hbuss 428
   if(d2Roll > D_LIMIT) d2Roll = D_LIMIT;
429
   else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT;
1166 hbuss 430
   MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16;
431
   HiResNick += (d2Nick * (signed int) Parameter_Gyro_D);
432
   HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D);
1216 killagreg 433
  }
1111 hbuss 434
 
1166 hbuss 435
 if(RohMesswertRoll > 0) TrimRoll  += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
436
 else                    TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
437
 if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
438
 else                    TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
1153 hbuss 439
 
440
  if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
441
  {
442
    if(RohMesswertNick > 256)       MesswertNick += 1 * (RohMesswertNick - 256);
443
    else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
444
    if(RohMesswertRoll > 256)       MesswertRoll += 1 * (RohMesswertRoll - 256);
445
    else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256);
446
  }
447
 
1 ingob 448
    if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--;
449
    if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--;
450
    if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--;
451
    if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--;
452
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
453
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
454
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
455
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
456
}
457
 
458
//############################################################################
459
// Messwerte beim Ermitteln der Nullage
460
void CalibrierMittelwert(void)
461
//############################################################################
1051 killagreg 462
{
1021 hbuss 463
    if(PlatinenVersion == 13) SucheGyroOffset();
1 ingob 464
    // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
465
        ANALOG_OFF;
395 hbuss 466
        MesswertNick = AdWertNick;
467
        MesswertRoll = AdWertRoll;
468
        MesswertGier = AdWertGier;
469
        Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
470
        Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
471
        Mittelwert_AccHoch = (long)AdWertAccHoch;
472
   // ADC einschalten
1051 killagreg 473
    ANALOG_ON;
1 ingob 474
    if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--;
475
    if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--;
476
    if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--;
477
    if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--;
478
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
479
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
480
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
481
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
395 hbuss 482
 
483
        Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
720 ingob 484
        Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
1 ingob 485
}
486
 
487
//############################################################################
488
// Senden der Motorwerte per I2C-Bus
489
void SendMotorData(void)
490
//############################################################################
1051 killagreg 491
{
1209 hbuss 492
 unsigned char i;
921 hbuss 493
    if(!MotorenEin)
1 ingob 494
        {
1212 hbuss 495
         MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY);
1216 killagreg 496
                 for(i=0;i<MAX_MOTORS;i++)
497
                  {
498
                   if(!PC_MotortestActive)  MotorTest[i] = 0;
1212 hbuss 499
                   Motor[i] = MotorTest[i];
1216 killagreg 500
                  }
1212 hbuss 501
          if(PC_MotortestActive) PC_MotortestActive--;
1216 killagreg 502
        }
1212 hbuss 503
        else MikroKopterFlags |= FLAG_MOTOR_RUN;
1111 hbuss 504
 
1212 hbuss 505
    DebugOut.Analog[12] = Motor[0];
506
    DebugOut.Analog[13] = Motor[1];
507
    DebugOut.Analog[14] = Motor[3];
508
    DebugOut.Analog[15] = Motor[2];
1 ingob 509
 
510
    //Start I2C Interrupt Mode
511
    twi_state = 0;
512
    motor = 0;
1051 killagreg 513
    i2c_start();
1 ingob 514
}
515
 
516
 
517
 
518
//############################################################################
519
// Trägt ggf. das Poti als Parameter ein
1051 killagreg 520
void ParameterZuordnung(void)
1 ingob 521
//############################################################################
522
{
921 hbuss 523
 #define CHK_POTI_MM(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;}
524
 #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; }
1 ingob 525
 CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255);
921 hbuss 526
 CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
527
 CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
1 ingob 528
 CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255);
1283 hbuss 529
 CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z,0,255);
1 ingob 530
 CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255);
921 hbuss 531
 CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
1 ingob 532
 CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255);
1120 hbuss 533
 CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D,0,255);
1322 hbuss 534
 CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P,10,255);
535
 CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I,0,255);
1051 killagreg 536
 CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255);
537
 CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255);
538
 CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255);
539
 CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255);
540
 CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255);
541
 CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255);
542
 CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255);
543
 CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255);
544
 CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255);
1 ingob 545
 CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
1232 hbuss 546
 CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl,0,255);
173 holgerb 547
 CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255);
395 hbuss 548
 CHK_POTI(Parameter_AchsKopplung1,    EE_Parameter.AchsKopplung1,0,255);
1120 hbuss 549
 CHK_POTI(Parameter_AchsKopplung2,    EE_Parameter.AchsKopplung2,0,255);
550
 CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255);
551
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
499 hbuss 552
 CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255);
921 hbuss 553
 CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255);
554
 CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255);
555
 CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255);
1153 hbuss 556
 Ki = 10300 / (Parameter_I_Faktor + 1);
1 ingob 557
 MAX_GAS = EE_Parameter.Gas_Max;
558
 MIN_GAS = EE_Parameter.Gas_Min;
559
}
560
 
561
 
562
//############################################################################
563
//
564
void MotorRegler(void)
565
//############################################################################
566
{
1330 killagreg 567
         int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2;
1 ingob 568
         int GierMischanteil,GasMischanteil;
569
     static long SummeNick=0,SummeRoll=0;
570
     static long sollGier = 0,tmp_long,tmp_long2;
395 hbuss 571
     static long IntegralFehlerNick = 0;
572
     static long IntegralFehlerRoll = 0;
1 ingob 573
         static unsigned int RcLostTimer;
574
         static unsigned char delay_neutral = 0;
575
         static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
576
     static char TimerWerteausgabe = 0;
577
     static char NeueKompassRichtungMerken = 0;
395 hbuss 578
     static long ausgleichNick, ausgleichRoll;
1153 hbuss 579
     int IntegralNickMalFaktor,IntegralRollMalFaktor;
1209 hbuss 580
         unsigned char i;
1328 hbuss 581
    if(--LoadHandler == 0) LoadHandler = 5; // verteilt die Prozessorlast
1051 killagreg 582
        Mittelwert();
1 ingob 583
    GRN_ON;
1051 killagreg 584
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 585
// Gaswert ermitteln
1051 killagreg 586
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
587
        GasMischanteil = StickGas;
831 hbuss 588
    if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
1330 killagreg 589
 
1051 killagreg 590
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 591
// Empfang schlecht
1051 killagreg 592
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 593
   if(SenderOkay < 100)
594
        {
1051 killagreg 595
        if(RcLostTimer) RcLostTimer--;
596
        else
1 ingob 597
         {
598
          MotorenEin = 0;
1254 killagreg 599
          MikroKopterFlags &= ~FLAG_NOTLANDUNG;
1051 killagreg 600
         }
1 ingob 601
        ROT_ON;
693 hbuss 602
        if(modell_fliegt > 1000)  // wahrscheinlich in der Luft --> langsam absenken
1 ingob 603
            {
604
            GasMischanteil = EE_Parameter.NotGas;
1254 killagreg 605
            MikroKopterFlags |= FLAG_NOTLANDUNG;
744 hbuss 606
            PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
1051 killagreg 607
            PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
1 ingob 608
            PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
609
            PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
610
            PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
173 holgerb 611
            }
1 ingob 612
         else MotorenEin = 0;
613
        }
1051 killagreg 614
        else
615
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 616
// Emfang gut
1051 killagreg 617
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 618
        if(SenderOkay > 140)
619
            {
1254 killagreg 620
                        MikroKopterFlags &= ~FLAG_NOTLANDUNG;
1 ingob 621
            RcLostTimer = EE_Parameter.NotGasZeit * 50;
921 hbuss 622
            if(GasMischanteil > 40 && MotorenEin)
1 ingob 623
                {
624
                if(modell_fliegt < 0xffff) modell_fliegt++;
625
                }
871 hbuss 626
            if((modell_fliegt < 256))
1 ingob 627
                {
628
                SummeNick = 0;
629
                SummeRoll = 0;
1051 killagreg 630
                if(modell_fliegt == 250)
918 hbuss 631
                 {
1051 killagreg 632
                  NeueKompassRichtungMerken = 1;
918 hbuss 633
                  sollGier = 0;
1051 killagreg 634
                  Mess_Integral_Gier = 0;
927 hbuss 635
//                  Mess_Integral_Gier2 = 0;
1051 killagreg 636
                 }
921 hbuss 637
                } else MikroKopterFlags |= FLAG_FLY;
1051 killagreg 638
 
595 hbuss 639
            if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0)
1 ingob 640
                {
1051 killagreg 641
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 642
// auf Nullwerte kalibrieren
1051 killagreg 643
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 644
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)  // Neutralwerte
645
                    {
646
                    if(++delay_neutral > 200)  // nicht sofort
647
                        {
648
                        GRN_OFF;
649
                        MotorenEin = 0;
650
                        delay_neutral = 0;
651
                        modell_fliegt = 0;
652
                        if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)
653
                        {
304 ingob 654
                         unsigned char setting=1;
1 ingob 655
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1;
656
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2;
657
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3;
658
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4;
659
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5;
1063 killagreg 660
                         SetActiveParamSetNumber(setting);  // aktiven Datensatz merken
1 ingob 661
                        }
820 hbuss 662
//                        else
1051 killagreg 663
                         if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70)
664
                          {
819 hbuss 665
                           WinkelOut.CalcState = 1;
666
                           beeptime = 1000;
667
                          }
668
                          else
1 ingob 669
                          {
819 hbuss 670
                               ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
671
                           if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
672
                            {
1 ingob 673
                             if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
1051 killagreg 674
                            }
1330 killagreg 675
                                                   ServoActive = 0;
819 hbuss 676
                           SetNeutral();
1232 hbuss 677
                                                   ServoActive = 1;
678
                                                   DDRD  |=0x80; // enable J7 -> Servo signal
679
                           Piep(GetActiveParamSetNumber(),120);
819 hbuss 680
                         }
1051 killagreg 681
                        }
1 ingob 682
                    }
1051 killagreg 683
                 else
513 hbuss 684
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)  // ACC Neutralwerte speichern
685
                    {
686
                    if(++delay_neutral > 200)  // nicht sofort
687
                        {
688
                        GRN_OFF;
689
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen
690
                        MotorenEin = 0;
691
                        delay_neutral = 0;
692
                        modell_fliegt = 0;
693
                        SetNeutral();
694
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern
695
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern
696
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256);
697
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256);
698
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256);
699
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256);
1232 hbuss 700
                        Piep(GetActiveParamSetNumber(),120);
1051 killagreg 701
                        }
513 hbuss 702
                    }
1 ingob 703
                 else delay_neutral = 0;
704
                }
1051 killagreg 705
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 706
// Gas ist unten
1051 killagreg 707
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
595 hbuss 708
            if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120)
1 ingob 709
                {
710
                // Starten
711
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)
712
                    {
1051 killagreg 713
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 714
// Einschalten
1051 killagreg 715
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 716
                    if(++delay_einschalten > 200)
717
                        {
718
                        delay_einschalten = 200;
719
                        modell_fliegt = 1;
720
                        MotorenEin = 1;
721
                        sollGier = 0;
1051 killagreg 722
                        Mess_Integral_Gier = 0;
1 ingob 723
                        Mess_Integral_Gier2 = 0;
1173 hbuss 724
                        Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
725
                        Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
1 ingob 726
                        Mess_IntegralNick2 = IntegralNick;
727
                        Mess_IntegralRoll2 = IntegralRoll;
728
                        SummeNick = 0;
729
                        SummeRoll = 0;
921 hbuss 730
                        MikroKopterFlags |= FLAG_START;
1051 killagreg 731
                        }
732
                    }
1 ingob 733
                    else delay_einschalten = 0;
734
                //Auf Neutralwerte setzen
1051 killagreg 735
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 736
// Auschalten
1051 killagreg 737
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 738
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)
739
                    {
740
                    if(++delay_ausschalten > 200)  // nicht sofort
741
                        {
1298 hbuss 742
                         MotorenEin = 0;
743
                         delay_ausschalten = 200;
744
                         modell_fliegt = 0;
1051 killagreg 745
                        }
1 ingob 746
                    }
747
                else delay_ausschalten = 0;
748
                }
749
            }
1051 killagreg 750
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 751
// neue Werte von der Funke
1051 killagreg 752
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 753
 
1254 killagreg 754
 if(!NewPpmData-- || (MikroKopterFlags & FLAG_NOTLANDUNG))
1 ingob 755
  {
604 hbuss 756
        static int stick_nick,stick_roll;
1 ingob 757
    ParameterZuordnung();
1051 killagreg 758
    stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4;
723 hbuss 759
    stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
805 hbuss 760
    StickNick = stick_nick - (GPS_Nick + GPS_Nick2);
604 hbuss 761
 
723 hbuss 762
    stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4;
763
    stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
805 hbuss 764
    StickRoll = stick_roll - (GPS_Roll + GPS_Roll2);
723 hbuss 765
 
1 ingob 766
    StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
1120 hbuss 767
        if(StickGier > 2) StickGier -= 2;       else
768
        if(StickGier < -2) StickGier += 2; else StickGier = 0;
769
 
1350 hbuss 770
        StickGas  = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120;
1330 killagreg 771
 
1153 hbuss 772
    GyroFaktor     = (Parameter_Gyro_P + 10.0);
773
    IntegralFaktor = Parameter_Gyro_I;
1322 hbuss 774
    GyroFaktorGier     = (Parameter_Gyro_Gier_P + 10.0);
775
    IntegralFaktorGier = Parameter_Gyro_Gier_I;
1 ingob 776
 
595 hbuss 777
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
778
//+ Analoge Steuerung per Seriell
779
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
921 hbuss 780
   if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128)
595 hbuss 781
    {
782
         StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P;
783
         StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P;
784
         StickGier += ExternControl.Gier;
785
     ExternHoehenValue =  (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung;
786
     if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
787
    }
855 hbuss 788
    if(StickGas < 0) StickGas = 0;
1330 killagreg 789
 
1 ingob 790
    if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
1330 killagreg 791
    //if(GyroFaktor < 0) GyroFaktor = 0;
792
    //if(IntegralFaktor < 0) IntegralFaktor = 0;
723 hbuss 793
 
1051 killagreg 794
    if(abs(StickNick/STICK_GAIN) > MaxStickNick)
928 hbuss 795
     {
1051 killagreg 796
      MaxStickNick = abs(StickNick)/STICK_GAIN;
928 hbuss 797
      if(MaxStickNick > 100) MaxStickNick = 100;
1051 killagreg 798
     }
928 hbuss 799
     else MaxStickNick--;
1051 killagreg 800
    if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
928 hbuss 801
     {
1051 killagreg 802
      MaxStickRoll = abs(StickRoll)/STICK_GAIN;
928 hbuss 803
      if(MaxStickRoll > 100) MaxStickRoll = 100;
1051 killagreg 804
     }
928 hbuss 805
     else MaxStickRoll--;
1254 killagreg 806
    if(MikroKopterFlags & FLAG_NOTLANDUNG)  {MaxStickNick = 0; MaxStickRoll = 0;}
723 hbuss 807
 
1051 killagreg 808
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 809
// Looping?
1051 killagreg 810
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
993 hbuss 811
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS)  Looping_Links = 1;
1051 killagreg 812
  else
813
   {
395 hbuss 814
     {
1051 killagreg 815
      if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0;
816
     }
817
   }
993 hbuss 818
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1;
1051 killagreg 819
   else
395 hbuss 820
   {
821
   if(Looping_Rechts) // Hysterese
822
     {
823
      if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0;
824
     }
1051 killagreg 825
   }
173 holgerb 826
 
993 hbuss 827
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1;
1051 killagreg 828
  else
829
   {
395 hbuss 830
    if(Looping_Oben)  // Hysterese
831
     {
1051 killagreg 832
      if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0;
833
     }
834
   }
993 hbuss 835
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1;
1051 killagreg 836
   else
395 hbuss 837
   {
838
    if(Looping_Unten) // Hysterese
839
     {
840
      if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0;
841
     }
1051 killagreg 842
   }
395 hbuss 843
 
844
   if(Looping_Links || Looping_Rechts)   Looping_Roll = 1; else Looping_Roll = 0;
1153 hbuss 845
   if(Looping_Oben  || Looping_Unten) {  Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0;
395 hbuss 846
  } // Ende neue Funken-Werte
847
 
848
  if(Looping_Roll || Looping_Nick)
849
   {
173 holgerb 850
    if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
1153 hbuss 851
        TrichterFlug = 1;
173 holgerb 852
   }
853
 
1051 killagreg 854
 
855
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
856
// Bei Empfangsausfall im Flug
857
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1254 killagreg 858
   if(MikroKopterFlags & FLAG_NOTLANDUNG)
1 ingob 859
    {
860
     StickGier = 0;
861
     StickNick = 0;
862
     StickRoll = 0;
1211 hbuss 863
     GyroFaktor     = 90;
864
     IntegralFaktor = 120;
865
     GyroFaktorGier     = 90;
866
     IntegralFaktorGier = 120;
173 holgerb 867
     Looping_Roll = 0;
868
     Looping_Nick = 0;
1051 killagreg 869
    }
395 hbuss 870
 
871
 
1051 killagreg 872
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 873
// Integrale auf ACC-Signal abgleichen
1051 killagreg 874
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 875
#define ABGLEICH_ANZAHL 256L
876
 
877
 MittelIntegralNick  += IntegralNick;    // Für die Mittelwertbildung aufsummieren
878
 MittelIntegralRoll  += IntegralRoll;
879
 MittelIntegralNick2 += IntegralNick2;
880
 MittelIntegralRoll2 += IntegralRoll2;
881
 
882
 if(Looping_Nick || Looping_Roll)
883
  {
884
    IntegralAccNick = 0;
885
    IntegralAccRoll = 0;
886
    MittelIntegralNick = 0;
887
    MittelIntegralRoll = 0;
888
    MittelIntegralNick2 = 0;
889
    MittelIntegralRoll2 = 0;
890
    Mess_IntegralNick2 = Mess_IntegralNick;
891
    Mess_IntegralRoll2 = Mess_IntegralRoll;
892
    ZaehlMessungen = 0;
498 hbuss 893
    LageKorrekturNick = 0;
894
    LageKorrekturRoll = 0;
395 hbuss 895
  }
896
 
1051 killagreg 897
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1224 hbuss 898
  if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
469 hbuss 899
  {
900
   long tmp_long, tmp_long2;
1171 hbuss 901
   if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/)
992 hbuss 902
     {
903
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 904
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
905
      tmp_long  = (tmp_long  * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
906
      tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
992 hbuss 907
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
908
      {
909
      tmp_long  /= 2;
910
      tmp_long2 /= 2;
911
      }
912
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
913
      {
914
      tmp_long  /= 3;
915
      tmp_long2 /= 3;
916
      }
917
      if(tmp_long >  (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
918
      if(tmp_long <  (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
919
      if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
920
      if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
921
     }
1051 killagreg 922
     else
992 hbuss 923
     {
924
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 925
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
992 hbuss 926
      tmp_long /= 16;
927
      tmp_long2 /= 16;
928
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
929
      {
930
      tmp_long  /= 3;
931
      tmp_long2 /= 3;
1216 killagreg 932
      }
933
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
992 hbuss 934
      {
935
      tmp_long  /= 3;
936
      tmp_long2 /= 3;
937
      }
1155 hbuss 938
 
939
#define AUSGLEICH  32
992 hbuss 940
      if(tmp_long >  AUSGLEICH)  tmp_long  = AUSGLEICH;
941
      if(tmp_long < -AUSGLEICH)  tmp_long  =-AUSGLEICH;
942
      if(tmp_long2 > AUSGLEICH)  tmp_long2 = AUSGLEICH;
943
      if(tmp_long2 <-AUSGLEICH)  tmp_long2 =-AUSGLEICH;
944
     }
1166 hbuss 945
 
946
//if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;}
1111 hbuss 947
   Mess_IntegralNick -= tmp_long;
948
   Mess_IntegralRoll -= tmp_long2;
469 hbuss 949
  }
1051 killagreg 950
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 951
 if(ZaehlMessungen >= ABGLEICH_ANZAHL)
952
 {
953
  static int cnt = 0;
954
  static char last_n_p,last_n_n,last_r_p,last_r_n;
955
  static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt;
1173 hbuss 956
  if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp)
173 holgerb 957
  {
395 hbuss 958
    MittelIntegralNick  /= ABGLEICH_ANZAHL;
959
    MittelIntegralRoll  /= ABGLEICH_ANZAHL;
960
        IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL;
961
        IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
962
    IntegralAccZ    = IntegralAccZ / ABGLEICH_ANZAHL;
492 hbuss 963
#define MAX_I 0//(Poti2/10)
395 hbuss 964
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
965
    IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
966
    ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich;
1051 killagreg 967
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
968
    IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
395 hbuss 969
    ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
614 hbuss 970
 
971
    LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
498 hbuss 972
    LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 973
 
992 hbuss 974
   if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1))
614 hbuss 975
    {
976
     LageKorrekturNick /= 2;
720 ingob 977
     LageKorrekturRoll /= 2;
614 hbuss 978
    }
498 hbuss 979
 
1051 killagreg 980
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 981
// Gyro-Drift ermitteln
1051 killagreg 982
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 983
    MittelIntegralNick2 /= ABGLEICH_ANZAHL;
984
    MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
1051 killagreg 985
    tmp_long  = IntegralNick2 - IntegralNick;
986
    tmp_long2 = IntegralRoll2 - IntegralRoll;
395 hbuss 987
    //DebugOut.Analog[25] = MittelIntegralRoll2 / 26;
988
 
989
    IntegralFehlerNick = tmp_long;
990
    IntegralFehlerRoll = tmp_long2;
991
    Mess_IntegralNick2 -= IntegralFehlerNick;
992
    Mess_IntegralRoll2 -= IntegralFehlerRoll;
993
 
1111 hbuss 994
  if(EE_Parameter.Driftkomp)
995
   {
927 hbuss 996
    if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; }
997
    if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; }
1111 hbuss 998
   }
693 hbuss 999
    GierGyroFehler = 0;
720 ingob 1000
 
1001
 
1243 killagreg 1002
#define FEHLER_LIMIT  (ABGLEICH_ANZAHL / 2)
1003
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
1225 hbuss 1004
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16
492 hbuss 1005
#define BEWEGUNGS_LIMIT 20000
395 hbuss 1006
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
1007
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 1008
        if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4;
1173 hbuss 1009
        if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1010
        {
1051 killagreg 1011
        if(IntegralFehlerNick >  FEHLER_LIMIT2)
395 hbuss 1012
         {
1051 killagreg 1013
           if(last_n_p)
395 hbuss 1014
           {
1173 hbuss 1015
            cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1016
            ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1017
            if(ausgleichNick > 5000) ausgleichNick = 5000;
498 hbuss 1018
            LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1019
           }
395 hbuss 1020
           else last_n_p = 1;
1021
         } else  last_n_p = 0;
1051 killagreg 1022
        if(IntegralFehlerNick < -FEHLER_LIMIT2)
395 hbuss 1023
         {
1024
           if(last_n_n)
1051 killagreg 1025
            {
1173 hbuss 1026
             cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1027
             ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1028
             if(ausgleichNick < -5000) ausgleichNick = -5000;
498 hbuss 1029
             LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1030
            }
395 hbuss 1031
           else last_n_n = 1;
1032
         } else  last_n_n = 0;
1051 killagreg 1033
        }
1034
        else
847 hbuss 1035
        {
1036
         cnt = 0;
921 hbuss 1037
         KompassSignalSchlecht = 1000;
1051 killagreg 1038
        }
499 hbuss 1039
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1040
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1041
        if(IntegralFehlerNick >  FEHLER_LIMIT)   AdNeutralNick += cnt;
1042
        if(IntegralFehlerNick < -FEHLER_LIMIT)   AdNeutralNick -= cnt;
401 hbuss 1043
 
395 hbuss 1044
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 1045
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 1046
        if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4;
498 hbuss 1047
        ausgleichRoll = 0;
1173 hbuss 1048
        if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1049
        {
1051 killagreg 1050
        if(IntegralFehlerRoll >  FEHLER_LIMIT2)
395 hbuss 1051
         {
1051 killagreg 1052
           if(last_r_p)
395 hbuss 1053
           {
1173 hbuss 1054
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1055
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1056
            if(ausgleichRoll > 5000) ausgleichRoll = 5000;
498 hbuss 1057
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
1051 killagreg 1058
           }
395 hbuss 1059
           else last_r_p = 1;
1060
         } else  last_r_p = 0;
1051 killagreg 1061
        if(IntegralFehlerRoll < -FEHLER_LIMIT2)
395 hbuss 1062
         {
1051 killagreg 1063
           if(last_r_n)
395 hbuss 1064
           {
1173 hbuss 1065
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1066
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1067
            if(ausgleichRoll < -5000) ausgleichRoll = -5000;
498 hbuss 1068
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 1069
           }
1070
           else last_r_n = 1;
1071
         } else  last_r_n = 0;
1051 killagreg 1072
        } else
492 hbuss 1073
        {
1074
         cnt = 0;
921 hbuss 1075
         KompassSignalSchlecht = 1000;
1051 killagreg 1076
        }
499 hbuss 1077
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1078
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1079
        if(IntegralFehlerRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
1080
        if(IntegralFehlerRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
173 holgerb 1081
  }
1051 killagreg 1082
  else
498 hbuss 1083
  {
1084
   LageKorrekturRoll = 0;
1085
   LageKorrekturNick = 0;
880 hbuss 1086
   TrichterFlug = 0;
498 hbuss 1087
  }
1051 killagreg 1088
 
498 hbuss 1089
  if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
1051 killagreg 1090
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
1091
   MittelIntegralNick_Alt = MittelIntegralNick;
1092
   MittelIntegralRoll_Alt = MittelIntegralRoll;
1093
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1094
    IntegralAccNick = 0;
1095
    IntegralAccRoll = 0;
1096
    IntegralAccZ = 0;
1097
    MittelIntegralNick = 0;
1098
    MittelIntegralRoll = 0;
1099
    MittelIntegralNick2 = 0;
1100
    MittelIntegralRoll2 = 0;
1101
    ZaehlMessungen = 0;
1173 hbuss 1102
 } //  ZaehlMessungen >= ABGLEICH_ANZAHL
395 hbuss 1103
 
1173 hbuss 1104
 
1051 killagreg 1105
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1106
//  Gieren
1051 killagreg 1107
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 1108
//    if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;};
1051 killagreg 1109
    if(abs(StickGier) > 15) // war 35
1 ingob 1110
     {
921 hbuss 1111
      KompassSignalSchlecht = 1000;
1051 killagreg 1112
      if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX))
1113
       {
1114
         NeueKompassRichtungMerken = 1;
824 hbuss 1115
        };
1 ingob 1116
     }
395 hbuss 1117
    tmp_int  = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo  y = ax + bx²
1051 killagreg 1118
    tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
173 holgerb 1119
    sollGier = tmp_int;
1051 killagreg 1120
    Mess_Integral_Gier -= tmp_int;
395 hbuss 1121
    if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000;  // begrenzen
1122
    if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
1051 killagreg 1123
 
1124
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1125
//  Kompass
1051 killagreg 1126
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1175 hbuss 1127
//DebugOut.Analog[16] = KompassSignalSchlecht;
819 hbuss 1128
 
1051 killagreg 1129
    if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
1 ingob 1130
     {
819 hbuss 1131
       int w,v,r,fehler,korrektur;
1 ingob 1132
       w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
1133
       v = abs(IntegralRoll /512);
1134
       if(v > w) w = v; // grösste Neigung ermitteln
824 hbuss 1135
       korrektur = w / 8 + 1;
921 hbuss 1136
       fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180;
1171 hbuss 1137
       if(abs(MesswertGier) > 128)
1036 hbuss 1138
            {
1139
                 fehler = 0;
1051 killagreg 1140
                }
921 hbuss 1141
       if(!KompassSignalSchlecht && w < 25)
1142
        {
1143
        GierGyroFehler += fehler;
1051 killagreg 1144
        if(NeueKompassRichtungMerken)
1145
         {
1352 hbuss 1146
//         beeptime = 200;
847 hbuss 1147
//         KompassStartwert = KompassValue;
1171 hbuss 1148
                  ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
921 hbuss 1149
          KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR);
1150
          NeueKompassRichtungMerken = 0;
1151
         }
1 ingob 1152
        }
824 hbuss 1153
       ErsatzKompass += (fehler * 8) / korrektur;
921 hbuss 1154
       w = (w * Parameter_KompassWirkung) / 32;           // auf die Wirkung normieren
1 ingob 1155
       w = Parameter_KompassWirkung - w;                  // Wirkung ggf drosseln
921 hbuss 1156
       if(w >= 0)
1 ingob 1157
        {
1051 killagreg 1158
          if(!KompassSignalSchlecht)
693 hbuss 1159
          {
1051 killagreg 1160
           v = 64 + ((MaxStickNick + MaxStickRoll)) / 8;
847 hbuss 1161
           r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180;
1162
//           r = KompassRichtung;
819 hbuss 1163
           v = (r * w) / v;  // nach Kompass ausrichten
1164
           w = 3 * Parameter_KompassWirkung;
693 hbuss 1165
           if(v > w) v = w; // Begrenzen
1051 killagreg 1166
           else
693 hbuss 1167
           if(v < -w) v = -w;
1168
           Mess_Integral_Gier += v;
1051 killagreg 1169
          }
693 hbuss 1170
          if(KompassSignalSchlecht) KompassSignalSchlecht--;
1051 killagreg 1171
        }
921 hbuss 1172
        else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek
1051 killagreg 1173
     }
1174
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1175
 
1051 killagreg 1176
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1177
//  Debugwerte zuordnen
1051 killagreg 1178
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1179
  if(!TimerWerteausgabe--)
1180
   {
395 hbuss 1181
    TimerWerteausgabe = 24;
805 hbuss 1182
 
1171 hbuss 1183
    DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
1184
    DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
1185
    DebugOut.Analog[2] = Mittelwert_AccNick / 4;
1186
    DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
1 ingob 1187
    DebugOut.Analog[4] = MesswertGier;
1314 killagreg 1188
    DebugOut.Analog[5] = HoehenWert/5;
1224 hbuss 1189
    DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az;
1 ingob 1190
    DebugOut.Analog[8] = KompassValue;
297 holgerb 1191
    DebugOut.Analog[9] = UBat;
1283 hbuss 1192
    DebugOut.Analog[10] = SenderOkay;
1051 killagreg 1193
    DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR;
929 hbuss 1194
    //DebugOut.Analog[16] = Mittelwert_AccHoch;
1083 killagreg 1195
    //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance;
1253 killagreg 1196
    DebugOut.Analog[18] = VarioMeter;
819 hbuss 1197
    DebugOut.Analog[19] = WinkelOut.CalcState;
1328 hbuss 1198
    DebugOut.Analog[20] = ServoNickValue;
1322 hbuss 1199
//    DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ;
1171 hbuss 1200
//    DebugOut.Analog[24] = MesswertNick/2;
1201
//    DebugOut.Analog[25] = MesswertRoll/2;
1322 hbuss 1202
//    DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift;
1172 hbuss 1203
//    DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion;
1204
//    DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K;
1322 hbuss 1205
    //DebugOut.Analog[28] = I2CError;
1352 hbuss 1206
//    DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay;
1216 killagreg 1207
    DebugOut.Analog[30] = GPS_Nick;
720 ingob 1208
    DebugOut.Analog[31] = GPS_Roll;
1 ingob 1209
  }
1210
 
1051 killagreg 1211
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1212
//  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
1051 killagreg 1213
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1214
  if(TrichterFlug)  { SummeRoll = 0; SummeNick = 0;};
604 hbuss 1215
 
1171 hbuss 1216
  if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
1217
  if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
1153 hbuss 1218
 
1167 hbuss 1219
#define TRIM_MAX 200
1166 hbuss 1220
 if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else  if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
1221
 if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else  if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
1153 hbuss 1222
 
1166 hbuss 1223
    MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
1224
    MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
1211 hbuss 1225
    MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
1166 hbuss 1226
 
1 ingob 1227
    // Maximalwerte abfangen
1153 hbuss 1228
//    #define MAX_SENSOR  (4096*STICK_GAIN)
1229
    #define MAX_SENSOR  (4096*4)
1216 killagreg 1230
    if(MesswertNick >  MAX_SENSOR) MesswertNick =  MAX_SENSOR;
1 ingob 1231
    if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
1232
    if(MesswertRoll >  MAX_SENSOR) MesswertRoll =  MAX_SENSOR;
1233
    if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
1234
    if(MesswertGier >  MAX_SENSOR) MesswertGier =  MAX_SENSOR;
1235
    if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
1236
 
1051 killagreg 1237
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1238
// Höhenregelung
1239
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
1051 killagreg 1240
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1374 hbuss 1241
  if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
855 hbuss 1242
  GasMischanteil *= STICK_GAIN;
1309 hbuss 1243
 
1244
        // if height control is activated
1322 hbuss 1245
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick))  // Höhenregelung
1309 hbuss 1246
        {
1332 hbuss 1247
                #define HOOVER_GAS_AVERAGE 4096L                // 4096 * 2ms = 8.2s averaging
1248
                #define HC_GAS_AVERAGE 4                        // 4 * 2ms= 8ms averaging
1309 hbuss 1249
                #define OPA_OFFSET_STEP 10
1250
                int HCGas, HeightDeviation;
1251
                static int HeightTrimming = 0;  // rate for change of height setpoint
1252
                static int FilterHCGas = 0;
1332 hbuss 1253
                static int StickGasHoover = 120, HooverGas = 0, HooverGasMin = 0, HooverGasMax = 1023;
1309 hbuss 1254
                static unsigned long HooverGasFilter = 0;
1322 hbuss 1255
                static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
1320 hbuss 1256
            int CosAttitude;    // for projection of hoover gas
1330 killagreg 1257
 
1309 hbuss 1258
                // get the current hooverpoint
1332 hbuss 1259
//    if(LoadHandler == 1)
1328 hbuss 1260
     {
1322 hbuss 1261
                DebugOut.Analog[21] = HooverGas;
1309 hbuss 1262
                DebugOut.Analog[18] = VarioMeter;
1263
 
1322 hbuss 1264
        // Expand the measurement
1265
                // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
1266
          if(!BaroExpandActive)
1267
                   {
1268
                        if(MessLuftdruck > 920)
1269
                        {   // increase offset
1330 killagreg 1270
             if(OCR0A < (255 - OPA_OFFSET_STEP))
1322 hbuss 1271
                           {
1272
                                ExpandBaro -= 1;
1273
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
1274
                                beeptime = 300;
1352 hbuss 1275
                                BaroExpandActive = 350;
1330 killagreg 1276
                           }
1277
                           else
1322 hbuss 1278
                           {
1279
                            BaroAtLowerLimit = 1;
1280
               }
1281
                        }
1282
                        // measurement of air pressure close to lower limit and
1330 killagreg 1283
                        else
1322 hbuss 1284
                        if(MessLuftdruck < 100)
1285
                        {   // decrease offset
1330 killagreg 1286
                          if(OCR0A > OPA_OFFSET_STEP)
1322 hbuss 1287
                           {
1288
                                ExpandBaro += 1;
1289
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
1290
                                beeptime = 300;
1352 hbuss 1291
                                BaroExpandActive = 350;
1330 killagreg 1292
                           }
1293
                           else
1322 hbuss 1294
                           {
1295
                            BaroAtUpperLimit = 1;
1296
               }
1297
                        }
1330 killagreg 1298
                        else
1322 hbuss 1299
                        {
1300
                            BaroAtUpperLimit = 0;
1301
                                BaroAtLowerLimit = 0;
1302
                        }
1303
                   }
1304
                   else // delay, because of expanding the Baro-Range
1305
                   {
1306
                    // now clear the D-values
1307
                          SummenHoehe = HoehenWert * SM_FILTER;
1308
                          VarioMeter = 0;
1309
                          BaroExpandActive--;
1310
                   }
1328 hbuss 1311
 
1312
                // if height control is activated by an rc channel
1313
        if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)  // Regler wird über Schalter gesteuert
1314
                {       // check if parameter is less than activation threshold
1315
                        if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position
1316
                        {   //height control not active
1317
                                if(!delay--)
1318
                                {
1319
                                        HoehenReglerAktiv = 0; // disable height control
1320
                                        SollHoehe = HoehenWert;  // update SetPoint with current reading
1321
                                        delay = 1;
1322
                                }
1323
                        }
1324
                        else
1325
                        {       //height control is activated
1326
                                HoehenReglerAktiv = 1; // enable height control
1334 killagreg 1327
                                delay = 200;
1328 hbuss 1328
                        }
1051 killagreg 1329
                }
1309 hbuss 1330
                else // no switchable height control
1331
                {
1332
                        SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung;
1333
                        HoehenReglerAktiv = 1;
1051 killagreg 1334
                }
1322 hbuss 1335
 
1320 hbuss 1336
                // calculate cos of nick and roll angle used for projection of the vertical hoover gas
1330 killagreg 1337
                tmp_int  = (int)(IntegralNick/GIER_GRAD_FAKTOR);  // nick angle in deg
1338
                tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR);  // roll angle in deg
1339
                CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
1320 hbuss 1340
                LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
1341
                CosAttitude = c_cos_8192(CosAttitude);  // cos of actual attitude
1309 hbuss 1342
                if(HoehenReglerAktiv && !(MikroKopterFlags & FLAG_NOTLANDUNG))
1343
                {
1344
                        #define HEIGHT_TRIM_UP          0x01
1345
                        #define HEIGHT_TRIM_DOWN        0x02
1346
                        static unsigned char HeightTrimmingFlag = 0x00;
1347
 
1330 killagreg 1348
                        #define HEIGHT_CONTROL_STICKTHRESHOLD 15
1309 hbuss 1349
                // Holger original version
1350
                // start of height control algorithm
1351
                // the height control is only an attenuation of the actual gas stick.
1352
                // I.e. it will work only if the gas stick is higher than the hover gas
1353
                // and the hover height will be allways larger than height setpoint.
1314 killagreg 1354
        if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER))  // Regler wird über Schalter gesteuert)
1355
              {  // old version
1309 hbuss 1356
                        HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
1357
                        HeightTrimming = 0;
1358
          }
1314 killagreg 1359
                  else
1309 hbuss 1360
                  {
1361
                // alternative height control
1362
                // PD-Control with respect to hoover point
1363
                // the thrust loss out of horizontal attitude is compensated
1364
                // the setpoint will be fine adjusted with the gas stick position
1365
                        if(MikroKopterFlags & FLAG_FLY) // trim setpoint only when flying
1366
                        {   // gas stick is above hoover point
1322 hbuss 1367
                                if(StickGas > (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
1309 hbuss 1368
                                {
1369
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN)
1370
                                        {
1371
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN;
1372
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1373
                                        }
1374
                                        HeightTrimmingFlag |= HEIGHT_TRIM_UP;
1320 hbuss 1375
                                        HeightTrimming += abs(StickGas - (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD));
1309 hbuss 1376
                                } // gas stick is below hoover point
1322 hbuss 1377
                                else if(StickGas < (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )
1309 hbuss 1378
                                {
1379
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_UP)
1380
                                        {
1381
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_UP;
1382
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1383
                                        }
1384
                                        HeightTrimmingFlag |= HEIGHT_TRIM_DOWN;
1320 hbuss 1385
                                        HeightTrimming -= abs(StickGas - (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD));
1309 hbuss 1386
                                }
1387
                                else // Gas Stick in Hoover Range
1388
                                {
1352 hbuss 1389
                                        if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN))
1309 hbuss 1390
                                        {
1352 hbuss 1391
                                                HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN);
1309 hbuss 1392
                                                HeightTrimming = 0;
1393
                                                SollHoehe = HoehenWert; // update setpoint to current height
1394
                                                if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500;
1395
                                        }
1396
                                }
1397
                                // Trim height set point
1334 killagreg 1398
                                if(abs(HeightTrimming) > 512)
1309 hbuss 1399
                                {
1332 hbuss 1400
                                        SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint
1309 hbuss 1401
                                        HeightTrimming = 0;
1402
                                        if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75;
1320 hbuss 1403
                                        //update hoover gas stick value when setpoint is shifted
1332 hbuss 1404
                       if(!EE_Parameter.Hoehe_StickNeutralPoint)
1405
                       {
1406
                           StickGasHoover = HooverGas/STICK_GAIN; //rescale back to stick value
1407
                           StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning;
1408
                           if(StickGasHoover < 70) StickGasHoover = 70;
1409
                           else if(StickGasHoover > 150) StickGasHoover = 150;
1410
                       }
1309 hbuss 1411
                                }
1352 hbuss 1412
              if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active
1309 hbuss 1413
                        } //if MikroKopterFlags & MKFLAG_FLY
1330 killagreg 1414
                        else
1415
                        {
1322 hbuss 1416
                         SollHoehe = HoehenWert - 400;
1328 hbuss 1417
                         if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint;
1418
                         else StickGasHoover = 120;
1320 hbuss 1419
                         }
1309 hbuss 1420
                        HCGas = HooverGas;      // take hoover gas (neutral point)
1421
          }
1314 killagreg 1422
 
1423
         if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT))
1283 hbuss 1424
                 {
1309 hbuss 1425
            // ------------------------- P-Part ----------------------------
1312 hbuss 1426
            HeightDeviation = (int)(HoehenWert - SollHoehe); // positive when too high
1309 hbuss 1427
                        tmp_int = (HeightDeviation * (int)Parameter_Hoehe_P) / 16; // p-part
1428
                        HCGas -= tmp_int;
1429
                        // ------------------------- D-Part 1: Vario Meter ----------------------------
1430
                        tmp_int = VarioMeter / 8;
1431
                        if(tmp_int > 8) tmp_int = 8; // limit quadratic part on upward movement to avoid to much gas reduction
1432
                        if(tmp_int > 0) tmp_int = VarioMeter + (tmp_int * tmp_int) / 4;
1433
                        else            tmp_int = VarioMeter - (tmp_int * tmp_int) / 4;
1434
                        tmp_int = (Parameter_Luftdruck_D * (long)(tmp_int)) / 128L; // scale to d-gain parameter
1435
                        LIMIT_MIN_MAX(tmp_int, -127, 255);
1436
                        HCGas -= tmp_int;
1437
                        // ------------------------ D-Part 2: ACC-Z Integral  ------------------------
1438
                        tmp_int = ((Mess_Integral_Hoch / 128) * (long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN);
1439
                        LIMIT_MIN_MAX(tmp_int, -127, 255);
1440
                        HCGas -= tmp_int;
1330 killagreg 1441
 
1309 hbuss 1442
                        // limit deviation from hoover point within the target region
1314 killagreg 1443
                        if( (abs(HeightDeviation) < 150)  && (!HeightTrimming) && (HooverGas > 0)) // height setpoint is not changed and hoover gas not zero
1309 hbuss 1444
                        {
1445
                                LIMIT_MIN_MAX(HCGas, HooverGasMin, HooverGasMax); // limit gas around the hoover point
1446
                        }
1276 hbuss 1447
 
1322 hbuss 1448
            if(BaroExpandActive) HCGas = HooverGas;
1309 hbuss 1449
                        // ------------------------ D-Part 3: GpsZ  ----------------------------------
1450
                        tmp_int = (Parameter_Hoehe_GPS_Z * (long)FromNaviCtrl_Value.GpsZ)/128L;
1322 hbuss 1451
            LIMIT_MIN_MAX(tmp_int, -127, 255);
1309 hbuss 1452
                        HCGas -= tmp_int;
1330 killagreg 1453
 
1322 hbuss 1454
                        // strech control output by inverse attitude projection 1/cos
1455
            // + 1/cos(angle)  ++++++++++++++++++++++++++
1330 killagreg 1456
                        tmp_long2 = (int32_t)HCGas;
1457
                        tmp_long2 *= 8192L;
1458
                        tmp_long2 /= CosAttitude;
1459
                        HCGas = (int16_t)tmp_long2;
1309 hbuss 1460
                        // update height control gas averaging
1461
                        FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
1462
                        // limit height control gas pd-control output
1463
                        LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
1464
                        // set GasMischanteil to HeightControlGasFilter
1314 killagreg 1465
            if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)
1466
                         {  // old version
1309 hbuss 1467
                if(FilterHCGas > GasMischanteil) FilterHCGas = GasMischanteil; // nicht mehr als Gas
1314 killagreg 1468
                         }
1309 hbuss 1469
                        GasMischanteil = FilterHCGas;
1314 killagreg 1470
                  }
1309 hbuss 1471
                }// EOF height control active
1320 hbuss 1472
                else // HC not active
1473
                {
1474
                        //update hoover gas stick value when HC is not active
1322 hbuss 1475
           if(!EE_Parameter.Hoehe_StickNeutralPoint)
1476
                    {
1477
                         StickGasHoover = HooverGas/STICK_GAIN; // rescale back to stick value
1478
                         StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning;
1479
                        }
1480
                        else StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint;
1330 killagreg 1481
            if(StickGasHoover < 70) StickGasHoover = 70;
1482
            else if(StickGasHoover > 150) StickGasHoover = 150;
1328 hbuss 1483
                        FilterHCGas = GasMischanteil;
1330 killagreg 1484
                }
1283 hbuss 1485
 
1309 hbuss 1486
                // Hoover gas estimation by averaging gas control output on small z-velocities
1487
                // this is done only if height contol option is selected in global config and aircraft is flying
1488
                if((MikroKopterFlags & FLAG_FLY) && !(MikroKopterFlags & FLAG_NOTLANDUNG))
1489
                {
1490
                        if(HooverGasFilter == 0)  HooverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
1491
                        if(abs(VarioMeter) < 100) // only on small vertical speed
1492
                        {
1330 killagreg 1493
                                tmp_long2 = (int32_t)GasMischanteil; // take current thrust
1494
                                tmp_long2 *= CosAttitude;            // apply attitude projection
1495
                                tmp_long2 /= 8192;
1496
 
1309 hbuss 1497
                                // average vertical projected thrust
1498
                                if(modell_fliegt < 2000) // the first 4 seconds
1499
                                {   // reduce the time constant of averaging by factor of 8 to get much faster a stable value
1500
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/8L);
1330 killagreg 1501
                                        HooverGasFilter += 8L * tmp_long2;
1309 hbuss 1502
                                }
1503
                                else if(modell_fliegt < 4000) // the first 8 seconds
1504
                                {   // reduce the time constant of averaging by factor of 4 to get much faster a stable value
1505
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/4L);
1330 killagreg 1506
                                        HooverGasFilter += 4L * tmp_long2;
1309 hbuss 1507
                                }
1508
                                else if(modell_fliegt < 8000) // the first 16 seconds
1509
                                {   // reduce the time constant of averaging by factor of 2 to get much faster a stable value
1510
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/2L);
1330 killagreg 1511
                                        HooverGasFilter += 2L * tmp_long2;
1309 hbuss 1512
                                }
1513
                                else //later
1514
                                {
1515
                                        HooverGasFilter -= HooverGasFilter/HOOVER_GAS_AVERAGE;
1330 killagreg 1516
                                        HooverGasFilter += tmp_long2;
1309 hbuss 1517
                                }
1518
                                HooverGas = (int16_t)(HooverGasFilter/HOOVER_GAS_AVERAGE);
1519
                                if(EE_Parameter.Hoehe_HoverBand)
1520
                                {
1521
                                        int16_t band;
1522
                                        band = HooverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
1523
                                        HooverGasMin = HooverGas - band;
1524
                                        HooverGasMax = HooverGas + band;
1525
                                }
1526
                                else
1527
                                {       // no limit
1528
                                        HooverGasMin = 0;
1529
                                        HooverGasMax = 1023;
1530
                                }
1531
                        }
1532
                }
1330 killagreg 1533
          }
1322 hbuss 1534
//DebugOut.Analog[26] = HooverGasMax;
1309 hbuss 1535
        }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL
1536
 
1537
        // limit gas to parameter setting
1320 hbuss 1538
  LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
855 hbuss 1539
  if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
1111 hbuss 1540
 
1051 killagreg 1541
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1320 hbuss 1542
// all BL-Ctrl connected?
1543
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1330 killagreg 1544
  if(MissingMotor)
1320 hbuss 1545
  if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0)
1546
   {
1547
    modell_fliegt = 1;
1548
        GasMischanteil = MIN_GAS;
1549
   }
1550
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1551
// + Mischer und PI-Regler
1051 killagreg 1552
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 1553
  DebugOut.Analog[7] = GasMischanteil;
1051 killagreg 1554
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1555
// Gier-Anteil
1051 killagreg 1556
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
855 hbuss 1557
    GierMischanteil = MesswertGier - sollGier * STICK_GAIN;     // Regler für Gier
1558
#define MIN_GIERGAS  (40*STICK_GAIN)  // unter diesem Gaswert trotzdem Gieren
693 hbuss 1559
   if(GasMischanteil > MIN_GIERGAS)
1560
    {
1051 killagreg 1561
     if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
1562
     if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
693 hbuss 1563
    }
1051 killagreg 1564
    else
693 hbuss 1565
    {
1051 killagreg 1566
     if(GierMischanteil > (MIN_GIERGAS / 2))  GierMischanteil = MIN_GIERGAS / 2;
1567
     if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2);
693 hbuss 1568
    }
855 hbuss 1569
    tmp_int = MAX_GAS*STICK_GAIN;
1051 killagreg 1570
    if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil));
855 hbuss 1571
    if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil));
513 hbuss 1572
 
1051 killagreg 1573
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1574
// Nick-Achse
1051 killagreg 1575
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
723 hbuss 1576
    DiffNick = MesswertNick - StickNick;        // Differenz bestimmen
1153 hbuss 1577
    if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung
1051 killagreg 1578
    else  SummeNick += DiffNick; // I-Anteil bei HH
855 hbuss 1579
    if(SummeNick >  (STICK_GAIN * 16000L)) SummeNick =  (STICK_GAIN * 16000L);
1580
    if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN);
1153 hbuss 1581
    pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick
1 ingob 1582
    // Motor Vorn
499 hbuss 1583
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153 hbuss 1584
    if(pd_ergebnis_nick >  tmp_int) pd_ergebnis_nick =  tmp_int;
1585
    if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
173 holgerb 1586
 
1153 hbuss 1587
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1588
// Roll-Achse
1589
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1590
        DiffRoll = MesswertRoll - StickRoll;    // Differenz bestimmen
1591
    if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
1592
    else                 SummeRoll += DiffRoll;  // I-Anteil bei HH
1593
    if(SummeRoll >  (STICK_GAIN * 16000L)) SummeRoll =  (STICK_GAIN * 16000L);
1594
    if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
1595
    pd_ergebnis_roll = DiffRoll + SummeRoll / Ki;       // PI-Regler für Roll
1596
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1597
    if(pd_ergebnis_roll >  tmp_int) pd_ergebnis_roll =  tmp_int;
1598
    if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
1599
 
1600
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1209 hbuss 1601
// Universal Mixer
1155 hbuss 1602
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1603
 for(i=0; i<MAX_MOTORS; i++)
1209 hbuss 1604
 {
1605
  signed int tmp_int;
1606
  if(Mixer.Motor[i][0] > 0)
1607
   {
1608
    tmp_int =  ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
1609
    tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
1610
    tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
1611
    tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
1612
    tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]);  // Filter
1216 killagreg 1613
        tmp_int = tmp_motorwert[i] / STICK_GAIN;
1209 hbuss 1614
        CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS);
1216 killagreg 1615
    Motor[i] = tmp_int;
1209 hbuss 1616
   }
1617
   else Motor[i] = 0;
1618
 }
1167 hbuss 1619
/*
1153 hbuss 1620
if(Poti1 > 20)  Motor1 = 0;
1621
if(Poti1 > 90)  Motor6 = 0;
1622
if(Poti1 > 140) Motor2 = 0;
1175 hbuss 1623
//if(Poti1 > 200) Motor7 = 0;
1167 hbuss 1624
*/
1111 hbuss 1625
}