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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;
1377 hbuss 95
//int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
1391 killagreg 96
unsigned char Poti[9] = {0,0,0,0,0,0,0,0};
1 ingob 97
volatile unsigned char SenderOkay = 0;
1243 killagreg 98
volatile unsigned char SenderRSSI = 0;
595 hbuss 99
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
1 ingob 100
char MotorenEin = 0;
1246 killagreg 101
long HoehenWert = 0;
102
long SollHoehe = 0;
498 hbuss 103
int LageKorrekturRoll = 0,LageKorrekturNick = 0;
1153 hbuss 104
//float Ki =  FAKTOR_I;
105
int Ki = 10300 / 33;
395 hbuss 106
unsigned char Looping_Nick = 0,Looping_Roll = 0;
107
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
1 ingob 108
 
109
unsigned char Parameter_Luftdruck_D  = 48;      // Wert : 0-250
110
unsigned char Parameter_MaxHoehe     = 251;      // Wert : 0-250
111
unsigned char Parameter_Hoehe_P      = 16;      // Wert : 0-32
112
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
113
unsigned char Parameter_KompassWirkung = 64;    // Wert : 0-250
1283 hbuss 114
unsigned char Parameter_Hoehe_GPS_Z = 64;        // Wert : 0-250
1111 hbuss 115
unsigned char Parameter_Gyro_D = 8;             // Wert : 0-250
173 holgerb 116
unsigned char Parameter_Gyro_P = 150;           // Wert : 10-250
1 ingob 117
unsigned char Parameter_Gyro_I = 150;           // Wert : 0-250
1322 hbuss 118
unsigned char Parameter_Gyro_Gier_P = 150;      // Wert : 10-250
119
unsigned char Parameter_Gyro_Gier_I = 150;      // Wert : 10-250
1 ingob 120
unsigned char Parameter_Gier_P = 2;             // Wert : 1-20
121
unsigned char Parameter_I_Faktor = 10;          // Wert : 1-20
122
unsigned char Parameter_UserParam1 = 0;
123
unsigned char Parameter_UserParam2 = 0;
124
unsigned char Parameter_UserParam3 = 0;
125
unsigned char Parameter_UserParam4 = 0;
499 hbuss 126
unsigned char Parameter_UserParam5 = 0;
127
unsigned char Parameter_UserParam6 = 0;
128
unsigned char Parameter_UserParam7 = 0;
129
unsigned char Parameter_UserParam8 = 0;
1 ingob 130
unsigned char Parameter_ServoNickControl = 100;
1232 hbuss 131
unsigned char Parameter_ServoRollControl = 100;
173 holgerb 132
unsigned char Parameter_LoopGasLimit = 70;
1120 hbuss 133
unsigned char Parameter_AchsKopplung1 = 90;
134
unsigned char Parameter_AchsKopplung2 = 65;
135
unsigned char Parameter_CouplingYawCorrection = 64;
136
//unsigned char Parameter_AchsGegenKopplung1 = 0;
499 hbuss 137
unsigned char Parameter_DynamicStability = 100;
921 hbuss 138
unsigned char Parameter_J16Bitmask;             // for the J16 Output
139
unsigned char Parameter_J16Timing;              // for the J16 Output
140
unsigned char Parameter_J17Bitmask;             // for the J17 Output
141
unsigned char Parameter_J17Timing;              // for the J17 Output
142
unsigned char Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 143
unsigned char Parameter_NaviGpsGain;
144
unsigned char Parameter_NaviGpsP;
145
unsigned char Parameter_NaviGpsI;
146
unsigned char Parameter_NaviGpsD;
147
unsigned char Parameter_NaviGpsACC;
993 hbuss 148
unsigned char Parameter_NaviOperatingRadius;
149
unsigned char Parameter_NaviWindCorrection;
150
unsigned char Parameter_NaviSpeedCompensation;
921 hbuss 151
unsigned char Parameter_ExternalControl;
1 ingob 152
struct mk_param_struct EE_Parameter;
492 hbuss 153
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
614 hbuss 154
int MaxStickNick = 0,MaxStickRoll = 0;
871 hbuss 155
unsigned int  modell_fliegt = 0;
1209 hbuss 156
volatile unsigned char MikroKopterFlags = 0;
1121 hbuss 157
long GIER_GRAD_FAKTOR = 1291;
1153 hbuss 158
signed int KopplungsteilNickRoll,KopplungsteilRollNick;
1209 hbuss 159
unsigned char RequiredMotors = 4;
160
unsigned char Motor[MAX_MOTORS];
161
signed int tmp_motorwert[MAX_MOTORS];
1328 hbuss 162
unsigned char LoadHandler = 0;
1391 killagreg 163
#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
164
#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
165
#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
1155 hbuss 166
 
1166 hbuss 167
int MotorSmoothing(int neu, int alt)
168
{
169
 int motor;
170
 if(neu > alt) motor = (1*(int)alt + neu) / 2;
171
 else   motor = neu - (alt - neu)*1;
172
//if(Poti2 < 20)  return(neu);
173
 return(motor);
174
}
175
 
1232 hbuss 176
void Piep(unsigned char Anzahl, unsigned int dauer)
1 ingob 177
{
1232 hbuss 178
 if(MotorenEin) return; //auf keinen Fall im Flug!
1 ingob 179
 while(Anzahl--)
180
 {
1232 hbuss 181
  beeptime = dauer;
182
  while(beeptime);
183
  Delay_ms(dauer * 2);
1 ingob 184
 }
185
}
186
 
187
//############################################################################
188
//  Nullwerte ermitteln
189
void SetNeutral(void)
190
//############################################################################
191
{
1111 hbuss 192
 unsigned char i;
193
 unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0;
1320 hbuss 194
    HEF4017R_ON;
1051 killagreg 195
        NeutralAccX = 0;
1 ingob 196
        NeutralAccY = 0;
197
        NeutralAccZ = 0;
1051 killagreg 198
    AdNeutralNick = 0;
199
        AdNeutralRoll = 0;
1 ingob 200
        AdNeutralGier = 0;
927 hbuss 201
    AdNeutralGierBias = 0;
395 hbuss 202
    Parameter_AchsKopplung1 = 0;
1120 hbuss 203
    Parameter_AchsKopplung2 = 0;
1036 hbuss 204
    ExpandBaro = 0;
1051 killagreg 205
    CalibrierMittelwert();
395 hbuss 206
    Delay_ms_Mess(100);
1 ingob 207
        CalibrierMittelwert();
208
    if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
1051 killagreg 209
     {
1 ingob 210
      if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
211
     }
1166 hbuss 212
#define NEUTRAL_FILTER 32
213
    for(i=0; i<NEUTRAL_FILTER; i++)
1111 hbuss 214
         {
215
          Delay_ms_Mess(10);
1216 killagreg 216
          gier_neutral += AdWertGier;
1166 hbuss 217
          nick_neutral += AdWertNick;
218
          roll_neutral += AdWertRoll;
1111 hbuss 219
         }
1173 hbuss 220
     AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
221
         AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
222
         AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
1111 hbuss 223
     AdNeutralGierBias = AdNeutralGier;
401 hbuss 224
     StartNeutralRoll = AdNeutralRoll;
225
     StartNeutralNick = AdNeutralNick;
1051 killagreg 226
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
513 hbuss 227
    {
1171 hbuss 228
      NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
229
          NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
513 hbuss 230
          NeutralAccZ = Aktuell_az;
231
    }
1051 killagreg 232
    else
513 hbuss 233
    {
234
      NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]);
235
          NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]);
236
          NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]);
237
    }
1051 killagreg 238
 
1 ingob 239
    MesswertNick = 0;
240
    MesswertRoll = 0;
241
    MesswertGier = 0;
1111 hbuss 242
    Delay_ms_Mess(100);
1174 hbuss 243
    Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
244
    Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
1173 hbuss 245
    IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
246
    IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
247
    Mess_IntegralNick2 = IntegralNick;
248
    Mess_IntegralRoll2 = IntegralRoll;
249
    Mess_Integral_Gier = 0;
1 ingob 250
    StartLuftdruck = Luftdruck;
1253 killagreg 251
    VarioMeter = 0;
1 ingob 252
    Mess_Integral_Hoch = 0;
253
    KompassStartwert = KompassValue;
254
    GPS_Neutral();
1051 killagreg 255
    beeptime = 50;
882 hbuss 256
        Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L;
257
        Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L;
492 hbuss 258
    ExternHoehenValue = 0;
693 hbuss 259
    ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
260
    GierGyroFehler = 0;
723 hbuss 261
    SendVersionToNavi = 1;
921 hbuss 262
    LED_Init();
263
    MikroKopterFlags |= FLAG_CALIBRATE;
992 hbuss 264
    FromNaviCtrl_Value.Kalman_K = -1;
1173 hbuss 265
    FromNaviCtrl_Value.Kalman_MaxDrift = 0;
992 hbuss 266
    FromNaviCtrl_Value.Kalman_MaxFusion = 32;
1391 killagreg 267
 
268
   for(i=0;i<8;i++)
1377 hbuss 269
    {
270
     Poti[i] =  PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
271
        }
1171 hbuss 272
    SenderOkay = 100;
1320 hbuss 273
    if(ServoActive)
274
         {
275
                HEF4017R_ON;
276
                DDRD  |=0x80; // enable J7 -> Servo signal
277
     }
1 ingob 278
}
279
 
280
//############################################################################
395 hbuss 281
// Bearbeitet die Messwerte
1 ingob 282
void Mittelwert(void)
283
//############################################################################
1051 killagreg 284
{
1111 hbuss 285
    static signed long tmpl,tmpl2,tmpl3,tmpl4;
286
        static signed int oldNick, oldRoll, d2Roll, d2Nick;
1153 hbuss 287
        signed long winkel_nick, winkel_roll;
1377 hbuss 288
    unsigned char i;
1111 hbuss 289
        MesswertGier = (signed int) AdNeutralGier - AdWertGier;
290
//    MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier;
1171 hbuss 291
    MesswertNick = (signed int) AdWertNickFilter / 8;
292
    MesswertRoll = (signed int) AdWertRollFilter / 8;
1153 hbuss 293
    RohMesswertNick = MesswertNick;
294
    RohMesswertRoll = MesswertRoll;
1166 hbuss 295
 
395 hbuss 296
// Beschleunigungssensor  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 297
        Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L;
298
        Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L;
299
        Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L;
395 hbuss 300
    IntegralAccNick += ACC_AMPLIFY * AdWertAccNick;
301
    IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll;
805 hbuss 302
    NaviAccNick    += AdWertAccNick;
303
    NaviAccRoll    += AdWertAccRoll;
304
    NaviCntAcc++;
1153 hbuss 305
    IntegralAccZ  += Aktuell_az - NeutralAccZ;
306
 
1155 hbuss 307
//++++++++++++++++++++++++++++++++++++++++++++++++
308
// ADC einschalten
1171 hbuss 309
    ANALOG_ON;
1155 hbuss 310
        AdReady = 0;
311
//++++++++++++++++++++++++++++++++++++++++++++++++
312
 
1216 killagreg 313
    if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L;
314
        else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L;
1153 hbuss 315
        else winkel_roll = Mess_IntegralRoll;
316
 
1216 killagreg 317
    if(Mess_IntegralNick > 93000L) winkel_nick = 93000L;
318
        else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L;
1153 hbuss 319
        else winkel_nick = Mess_IntegralNick;
320
 
1120 hbuss 321
// Gier  ++++++++++++++++++++++++++++++++++++++++++++++++
1153 hbuss 322
   Mess_Integral_Gier += MesswertGier;
323
   ErsatzKompass += MesswertGier;
395 hbuss 324
// Kopplungsanteil  +++++++++++++++++++++++++++++++++++++
325
      if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV))
326
         {
1153 hbuss 327
            tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
1120 hbuss 328
            tmpl3 *= Parameter_AchsKopplung2; //65
1111 hbuss 329
            tmpl3 /= 4096L;
1153 hbuss 330
            tmpl4 = (MesswertNick * winkel_roll) / 2048L;
1216 killagreg 331
            tmpl4 *= Parameter_AchsKopplung2; //65
1111 hbuss 332
            tmpl4 /= 4096L;
1153 hbuss 333
            KopplungsteilNickRoll = tmpl3;
334
            KopplungsteilRollNick = tmpl4;
1111 hbuss 335
            tmpl4 -= tmpl3;
336
            ErsatzKompass += tmpl4;
1166 hbuss 337
            if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen
1111 hbuss 338
 
1153 hbuss 339
            tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L;
1111 hbuss 340
            tmpl *= Parameter_AchsKopplung1;  // 90
880 hbuss 341
            tmpl /= 4096L;
1153 hbuss 342
            tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L;
395 hbuss 343
            tmpl2 *= Parameter_AchsKopplung1;
880 hbuss 344
            tmpl2 /= 4096L;
1225 hbuss 345
            if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1;
1153 hbuss 346
            //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
395 hbuss 347
         }
1166 hbuss 348
      else  tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
1111 hbuss 349
 
1166 hbuss 350
TrimRoll = tmpl - tmpl2 / 100L;
351
TrimNick = -tmpl2 + tmpl / 100L;
352
 
1111 hbuss 353
// Kompasswert begrenzen  ++++++++++++++++++++++++++++++++++++++++++++++++
354
                    if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR;  // 360° Umschlag
355
                    if(ErsatzKompass < 0)                          ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
395 hbuss 356
// Roll  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 357
            Mess_IntegralRoll2 += MesswertRoll + TrimRoll;
358
            Mess_IntegralRoll +=  MesswertRoll + TrimRoll - LageKorrekturRoll;
1051 killagreg 359
            if(Mess_IntegralRoll > Umschlag180Roll)
395 hbuss 360
            {
882 hbuss 361
             Mess_IntegralRoll  = -(Umschlag180Roll - 25000L);
395 hbuss 362
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 363
            }
395 hbuss 364
            if(Mess_IntegralRoll <-Umschlag180Roll)
365
            {
882 hbuss 366
             Mess_IntegralRoll =  (Umschlag180Roll - 25000L);
395 hbuss 367
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 368
            }
395 hbuss 369
// Nick  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 370
            Mess_IntegralNick2 += MesswertNick + TrimNick;
371
            Mess_IntegralNick  += MesswertNick + TrimNick - LageKorrekturNick;
1051 killagreg 372
            if(Mess_IntegralNick > Umschlag180Nick)
882 hbuss 373
             {
374
              Mess_IntegralNick = -(Umschlag180Nick - 25000L);
375
              Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 376
             }
377
            if(Mess_IntegralNick <-Umschlag180Nick)
395 hbuss 378
            {
882 hbuss 379
             Mess_IntegralNick =  (Umschlag180Nick - 25000L);
395 hbuss 380
             Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 381
            }
1111 hbuss 382
 
1 ingob 383
    Integral_Gier  = Mess_Integral_Gier;
384
    IntegralNick = Mess_IntegralNick;
385
    IntegralRoll = Mess_IntegralRoll;
1051 killagreg 386
    IntegralNick2 = Mess_IntegralNick2;
1 ingob 387
    IntegralRoll2 = Mess_IntegralRoll2;
388
 
1166 hbuss 389
#define D_LIMIT 128
390
 
1171 hbuss 391
   MesswertNick = HiResNick / 8;
392
   MesswertRoll = HiResRoll / 8;
1166 hbuss 393
 
1167 hbuss 394
   if(AdWertNick < 15)   MesswertNick = -1000;  if(AdWertNick <  7)   MesswertNick = -2000;
395
   if(PlatinenVersion == 10)  { if(AdWertNick > 1010) MesswertNick = +1000;  if(AdWertNick > 1017) MesswertNick = +2000; }
396
   else  {  if(AdWertNick > 2000) MesswertNick = +1000;  if(AdWertNick > 2015) MesswertNick = +2000; }
397
   if(AdWertRoll < 15)   MesswertRoll = -1000;  if(AdWertRoll <  7)   MesswertRoll = -2000;
398
   if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000;  if(AdWertRoll > 1017) MesswertRoll = +2000; }
399
   else { if(AdWertRoll > 2000) MesswertRoll = +1000;  if(AdWertRoll > 2015) MesswertRoll = +2000;  }
400
 
1216 killagreg 401
  if(Parameter_Gyro_D)
1111 hbuss 402
  {
1166 hbuss 403
   d2Nick = HiResNick - oldNick;
404
   oldNick = (oldNick + HiResNick)/2;
1111 hbuss 405
   if(d2Nick > D_LIMIT) d2Nick = D_LIMIT;
406
   else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT;
1166 hbuss 407
   MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16;
408
   d2Roll = HiResRoll - oldRoll;
409
   oldRoll = (oldRoll + HiResRoll)/2;
1111 hbuss 410
   if(d2Roll > D_LIMIT) d2Roll = D_LIMIT;
411
   else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT;
1166 hbuss 412
   MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16;
413
   HiResNick += (d2Nick * (signed int) Parameter_Gyro_D);
414
   HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D);
1216 killagreg 415
  }
1111 hbuss 416
 
1166 hbuss 417
 if(RohMesswertRoll > 0) TrimRoll  += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
418
 else                    TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
419
 if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
420
 else                    TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
1153 hbuss 421
 
422
  if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
423
  {
424
    if(RohMesswertNick > 256)       MesswertNick += 1 * (RohMesswertNick - 256);
425
    else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
426
    if(RohMesswertRoll > 256)       MesswertRoll += 1 * (RohMesswertRoll - 256);
427
    else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256);
428
  }
1377 hbuss 429
  for(i=0;i<8;i++)
430
    {
431
     int tmp;
432
         tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
433
         if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0;
1391 killagreg 434
     if(Poti[i] > tmp) Poti[i]--;  else  if(Poti[i] < tmp) Poti[i]++;
1377 hbuss 435
        }
1 ingob 436
}
437
 
438
//############################################################################
439
// Messwerte beim Ermitteln der Nullage
440
void CalibrierMittelwert(void)
441
//############################################################################
1051 killagreg 442
{
1377 hbuss 443
    unsigned char i;
1021 hbuss 444
    if(PlatinenVersion == 13) SucheGyroOffset();
1 ingob 445
    // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
446
        ANALOG_OFF;
395 hbuss 447
        MesswertNick = AdWertNick;
448
        MesswertRoll = AdWertRoll;
449
        MesswertGier = AdWertGier;
450
        Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
451
        Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
452
        Mittelwert_AccHoch = (long)AdWertAccHoch;
453
   // ADC einschalten
1051 killagreg 454
    ANALOG_ON;
1377 hbuss 455
   for(i=0;i<8;i++)
456
    {
457
     int tmp;
458
         tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
1391 killagreg 459
         LIMIT_MIN_MAX(tmp, 0, 255);
460
     if(Poti[i] > tmp) Poti[i]--;  else  if(Poti[i] < tmp) Poti[i]++;
1377 hbuss 461
        }
395 hbuss 462
        Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
720 ingob 463
        Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
1 ingob 464
}
465
 
466
//############################################################################
467
// Senden der Motorwerte per I2C-Bus
468
void SendMotorData(void)
469
//############################################################################
1051 killagreg 470
{
1209 hbuss 471
 unsigned char i;
921 hbuss 472
    if(!MotorenEin)
1 ingob 473
        {
1212 hbuss 474
         MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY);
1216 killagreg 475
                 for(i=0;i<MAX_MOTORS;i++)
476
                  {
477
                   if(!PC_MotortestActive)  MotorTest[i] = 0;
1212 hbuss 478
                   Motor[i] = MotorTest[i];
1216 killagreg 479
                  }
1212 hbuss 480
          if(PC_MotortestActive) PC_MotortestActive--;
1216 killagreg 481
        }
1212 hbuss 482
        else MikroKopterFlags |= FLAG_MOTOR_RUN;
1111 hbuss 483
 
1212 hbuss 484
    DebugOut.Analog[12] = Motor[0];
485
    DebugOut.Analog[13] = Motor[1];
486
    DebugOut.Analog[14] = Motor[3];
487
    DebugOut.Analog[15] = Motor[2];
1 ingob 488
 
489
    //Start I2C Interrupt Mode
490
    twi_state = 0;
491
    motor = 0;
1051 killagreg 492
    i2c_start();
1 ingob 493
}
494
 
495
 
496
 
497
//############################################################################
498
// Trägt ggf. das Poti als Parameter ein
1051 killagreg 499
void ParameterZuordnung(void)
1 ingob 500
//############################################################################
501
{
1391 killagreg 502
 #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
503
 #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
504
 
921 hbuss 505
 CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
506
 CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
507
 CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
508
 CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255);
509
 CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255);
1377 hbuss 510
 
511
 CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe);
512
 CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung);
513
 CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z);
514
 CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung);
515
 CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I);
516
 CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D);
517
 CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P);
518
 CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I);
519
 CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor);
520
 CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1);
521
 CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2);
522
 CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3);
523
 CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4);
524
 CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5);
525
 CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6);
526
 CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7);
527
 CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8);
528
 CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl);
529
 CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl);
530
 CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit);
531
 CHK_POTI(Parameter_AchsKopplung1,    EE_Parameter.AchsKopplung1);
532
 CHK_POTI(Parameter_AchsKopplung2,    EE_Parameter.AchsKopplung2);
533
 CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection);
534
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
535
 CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
536
 CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
1153 hbuss 537
 Ki = 10300 / (Parameter_I_Faktor + 1);
1 ingob 538
 MAX_GAS = EE_Parameter.Gas_Max;
539
 MIN_GAS = EE_Parameter.Gas_Min;
540
}
541
 
542
//############################################################################
543
//
544
void MotorRegler(void)
545
//############################################################################
546
{
1330 killagreg 547
         int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2;
1 ingob 548
         int GierMischanteil,GasMischanteil;
549
     static long SummeNick=0,SummeRoll=0;
550
     static long sollGier = 0,tmp_long,tmp_long2;
395 hbuss 551
     static long IntegralFehlerNick = 0;
552
     static long IntegralFehlerRoll = 0;
1 ingob 553
         static unsigned int RcLostTimer;
554
         static unsigned char delay_neutral = 0;
555
         static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
556
     static char TimerWerteausgabe = 0;
557
     static char NeueKompassRichtungMerken = 0;
395 hbuss 558
     static long ausgleichNick, ausgleichRoll;
1153 hbuss 559
     int IntegralNickMalFaktor,IntegralRollMalFaktor;
1209 hbuss 560
         unsigned char i;
1328 hbuss 561
    if(--LoadHandler == 0) LoadHandler = 5; // verteilt die Prozessorlast
1051 killagreg 562
        Mittelwert();
1 ingob 563
    GRN_ON;
1051 killagreg 564
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 565
// Gaswert ermitteln
1051 killagreg 566
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
567
        GasMischanteil = StickGas;
831 hbuss 568
    if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
1330 killagreg 569
 
1051 killagreg 570
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 571
// Empfang schlecht
1051 killagreg 572
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 573
   if(SenderOkay < 100)
574
        {
1051 killagreg 575
        if(RcLostTimer) RcLostTimer--;
576
        else
1 ingob 577
         {
578
          MotorenEin = 0;
1254 killagreg 579
          MikroKopterFlags &= ~FLAG_NOTLANDUNG;
1051 killagreg 580
         }
1 ingob 581
        ROT_ON;
693 hbuss 582
        if(modell_fliegt > 1000)  // wahrscheinlich in der Luft --> langsam absenken
1 ingob 583
            {
584
            GasMischanteil = EE_Parameter.NotGas;
1254 killagreg 585
            MikroKopterFlags |= FLAG_NOTLANDUNG;
744 hbuss 586
            PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
1051 killagreg 587
            PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
1 ingob 588
            PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
589
            PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
590
            PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
173 holgerb 591
            }
1 ingob 592
         else MotorenEin = 0;
593
        }
1051 killagreg 594
        else
595
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 596
// Emfang gut
1051 killagreg 597
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 598
        if(SenderOkay > 140)
599
            {
1254 killagreg 600
                        MikroKopterFlags &= ~FLAG_NOTLANDUNG;
1 ingob 601
            RcLostTimer = EE_Parameter.NotGasZeit * 50;
921 hbuss 602
            if(GasMischanteil > 40 && MotorenEin)
1 ingob 603
                {
604
                if(modell_fliegt < 0xffff) modell_fliegt++;
605
                }
871 hbuss 606
            if((modell_fliegt < 256))
1 ingob 607
                {
608
                SummeNick = 0;
609
                SummeRoll = 0;
1051 killagreg 610
                if(modell_fliegt == 250)
918 hbuss 611
                 {
1051 killagreg 612
                  NeueKompassRichtungMerken = 1;
918 hbuss 613
                  sollGier = 0;
1051 killagreg 614
                  Mess_Integral_Gier = 0;
927 hbuss 615
//                  Mess_Integral_Gier2 = 0;
1051 killagreg 616
                 }
921 hbuss 617
                } else MikroKopterFlags |= FLAG_FLY;
1051 killagreg 618
 
595 hbuss 619
            if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0)
1 ingob 620
                {
1051 killagreg 621
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 622
// auf Nullwerte kalibrieren
1051 killagreg 623
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 624
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)  // Neutralwerte
625
                    {
626
                    if(++delay_neutral > 200)  // nicht sofort
627
                        {
628
                        GRN_OFF;
629
                        MotorenEin = 0;
630
                        delay_neutral = 0;
631
                        modell_fliegt = 0;
632
                        if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)
633
                        {
304 ingob 634
                         unsigned char setting=1;
1 ingob 635
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1;
636
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2;
637
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3;
638
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4;
639
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5;
1063 killagreg 640
                         SetActiveParamSetNumber(setting);  // aktiven Datensatz merken
1 ingob 641
                        }
820 hbuss 642
//                        else
1051 killagreg 643
                         if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70)
644
                          {
819 hbuss 645
                           WinkelOut.CalcState = 1;
646
                           beeptime = 1000;
647
                          }
648
                          else
1 ingob 649
                          {
819 hbuss 650
                               ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
651
                           if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
652
                            {
1 ingob 653
                             if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
1051 killagreg 654
                            }
1330 killagreg 655
                                                   ServoActive = 0;
819 hbuss 656
                           SetNeutral();
1232 hbuss 657
                                                   ServoActive = 1;
658
                                                   DDRD  |=0x80; // enable J7 -> Servo signal
659
                           Piep(GetActiveParamSetNumber(),120);
819 hbuss 660
                         }
1051 killagreg 661
                        }
1 ingob 662
                    }
1051 killagreg 663
                 else
513 hbuss 664
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)  // ACC Neutralwerte speichern
665
                    {
666
                    if(++delay_neutral > 200)  // nicht sofort
667
                        {
668
                        GRN_OFF;
669
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen
670
                        MotorenEin = 0;
671
                        delay_neutral = 0;
672
                        modell_fliegt = 0;
673
                        SetNeutral();
674
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern
675
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern
676
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256);
677
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256);
678
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256);
679
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256);
1232 hbuss 680
                        Piep(GetActiveParamSetNumber(),120);
1051 killagreg 681
                        }
513 hbuss 682
                    }
1 ingob 683
                 else delay_neutral = 0;
684
                }
1051 killagreg 685
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 686
// Gas ist unten
1051 killagreg 687
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
595 hbuss 688
            if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120)
1 ingob 689
                {
690
                // Starten
691
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)
692
                    {
1051 killagreg 693
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 694
// Einschalten
1051 killagreg 695
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 696
                    if(++delay_einschalten > 200)
697
                        {
698
                        delay_einschalten = 200;
699
                        modell_fliegt = 1;
700
                        MotorenEin = 1;
701
                        sollGier = 0;
1051 killagreg 702
                        Mess_Integral_Gier = 0;
1 ingob 703
                        Mess_Integral_Gier2 = 0;
1173 hbuss 704
                        Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
705
                        Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
1 ingob 706
                        Mess_IntegralNick2 = IntegralNick;
707
                        Mess_IntegralRoll2 = IntegralRoll;
708
                        SummeNick = 0;
709
                        SummeRoll = 0;
921 hbuss 710
                        MikroKopterFlags |= FLAG_START;
1051 killagreg 711
                        }
712
                    }
1 ingob 713
                    else delay_einschalten = 0;
714
                //Auf Neutralwerte setzen
1051 killagreg 715
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 716
// Auschalten
1051 killagreg 717
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 718
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)
719
                    {
720
                    if(++delay_ausschalten > 200)  // nicht sofort
721
                        {
1298 hbuss 722
                         MotorenEin = 0;
723
                         delay_ausschalten = 200;
724
                         modell_fliegt = 0;
1051 killagreg 725
                        }
1 ingob 726
                    }
727
                else delay_ausschalten = 0;
728
                }
729
            }
1051 killagreg 730
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 731
// neue Werte von der Funke
1051 killagreg 732
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 733
 
1254 killagreg 734
 if(!NewPpmData-- || (MikroKopterFlags & FLAG_NOTLANDUNG))
1 ingob 735
  {
604 hbuss 736
        static int stick_nick,stick_roll;
1 ingob 737
    ParameterZuordnung();
1051 killagreg 738
    stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4;
723 hbuss 739
    stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
805 hbuss 740
    StickNick = stick_nick - (GPS_Nick + GPS_Nick2);
604 hbuss 741
 
723 hbuss 742
    stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4;
743
    stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
805 hbuss 744
    StickRoll = stick_roll - (GPS_Roll + GPS_Roll2);
723 hbuss 745
 
1 ingob 746
    StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
1120 hbuss 747
        if(StickGier > 2) StickGier -= 2;       else
748
        if(StickGier < -2) StickGier += 2; else StickGier = 0;
749
 
1350 hbuss 750
        StickGas  = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120;
1330 killagreg 751
 
1153 hbuss 752
    GyroFaktor     = (Parameter_Gyro_P + 10.0);
753
    IntegralFaktor = Parameter_Gyro_I;
1322 hbuss 754
    GyroFaktorGier     = (Parameter_Gyro_Gier_P + 10.0);
755
    IntegralFaktorGier = Parameter_Gyro_Gier_I;
1 ingob 756
 
595 hbuss 757
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
758
//+ Analoge Steuerung per Seriell
759
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
921 hbuss 760
   if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128)
595 hbuss 761
    {
762
         StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P;
763
         StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P;
764
         StickGier += ExternControl.Gier;
765
     ExternHoehenValue =  (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung;
766
     if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
767
    }
855 hbuss 768
    if(StickGas < 0) StickGas = 0;
1330 killagreg 769
 
1 ingob 770
    if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
1330 killagreg 771
    //if(GyroFaktor < 0) GyroFaktor = 0;
772
    //if(IntegralFaktor < 0) IntegralFaktor = 0;
723 hbuss 773
 
1051 killagreg 774
    if(abs(StickNick/STICK_GAIN) > MaxStickNick)
928 hbuss 775
     {
1051 killagreg 776
      MaxStickNick = abs(StickNick)/STICK_GAIN;
928 hbuss 777
      if(MaxStickNick > 100) MaxStickNick = 100;
1051 killagreg 778
     }
928 hbuss 779
     else MaxStickNick--;
1051 killagreg 780
    if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
928 hbuss 781
     {
1051 killagreg 782
      MaxStickRoll = abs(StickRoll)/STICK_GAIN;
928 hbuss 783
      if(MaxStickRoll > 100) MaxStickRoll = 100;
1051 killagreg 784
     }
928 hbuss 785
     else MaxStickRoll--;
1254 killagreg 786
    if(MikroKopterFlags & FLAG_NOTLANDUNG)  {MaxStickNick = 0; MaxStickRoll = 0;}
723 hbuss 787
 
1051 killagreg 788
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 789
// Looping?
1051 killagreg 790
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
993 hbuss 791
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS)  Looping_Links = 1;
1051 killagreg 792
  else
793
   {
395 hbuss 794
     {
1051 killagreg 795
      if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0;
796
     }
797
   }
993 hbuss 798
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1;
1051 killagreg 799
   else
395 hbuss 800
   {
801
   if(Looping_Rechts) // Hysterese
802
     {
803
      if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0;
804
     }
1051 killagreg 805
   }
173 holgerb 806
 
993 hbuss 807
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1;
1051 killagreg 808
  else
809
   {
395 hbuss 810
    if(Looping_Oben)  // Hysterese
811
     {
1051 killagreg 812
      if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0;
813
     }
814
   }
993 hbuss 815
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1;
1051 killagreg 816
   else
395 hbuss 817
   {
818
    if(Looping_Unten) // Hysterese
819
     {
820
      if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0;
821
     }
1051 killagreg 822
   }
395 hbuss 823
 
824
   if(Looping_Links || Looping_Rechts)   Looping_Roll = 1; else Looping_Roll = 0;
1153 hbuss 825
   if(Looping_Oben  || Looping_Unten) {  Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0;
395 hbuss 826
  } // Ende neue Funken-Werte
827
 
828
  if(Looping_Roll || Looping_Nick)
829
   {
173 holgerb 830
    if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
1153 hbuss 831
        TrichterFlug = 1;
173 holgerb 832
   }
833
 
1051 killagreg 834
 
835
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
836
// Bei Empfangsausfall im Flug
837
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1254 killagreg 838
   if(MikroKopterFlags & FLAG_NOTLANDUNG)
1 ingob 839
    {
840
     StickGier = 0;
841
     StickNick = 0;
842
     StickRoll = 0;
1211 hbuss 843
     GyroFaktor     = 90;
844
     IntegralFaktor = 120;
845
     GyroFaktorGier     = 90;
846
     IntegralFaktorGier = 120;
173 holgerb 847
     Looping_Roll = 0;
848
     Looping_Nick = 0;
1051 killagreg 849
    }
395 hbuss 850
 
851
 
1051 killagreg 852
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 853
// Integrale auf ACC-Signal abgleichen
1051 killagreg 854
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 855
#define ABGLEICH_ANZAHL 256L
856
 
857
 MittelIntegralNick  += IntegralNick;    // Für die Mittelwertbildung aufsummieren
858
 MittelIntegralRoll  += IntegralRoll;
859
 MittelIntegralNick2 += IntegralNick2;
860
 MittelIntegralRoll2 += IntegralRoll2;
861
 
862
 if(Looping_Nick || Looping_Roll)
863
  {
864
    IntegralAccNick = 0;
865
    IntegralAccRoll = 0;
866
    MittelIntegralNick = 0;
867
    MittelIntegralRoll = 0;
868
    MittelIntegralNick2 = 0;
869
    MittelIntegralRoll2 = 0;
870
    Mess_IntegralNick2 = Mess_IntegralNick;
871
    Mess_IntegralRoll2 = Mess_IntegralRoll;
872
    ZaehlMessungen = 0;
498 hbuss 873
    LageKorrekturNick = 0;
874
    LageKorrekturRoll = 0;
395 hbuss 875
  }
876
 
1051 killagreg 877
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1224 hbuss 878
  if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
469 hbuss 879
  {
880
   long tmp_long, tmp_long2;
1171 hbuss 881
   if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/)
992 hbuss 882
     {
883
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 884
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
885
      tmp_long  = (tmp_long  * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
886
      tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
992 hbuss 887
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
888
      {
889
      tmp_long  /= 2;
890
      tmp_long2 /= 2;
891
      }
892
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
893
      {
894
      tmp_long  /= 3;
895
      tmp_long2 /= 3;
896
      }
897
      if(tmp_long >  (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
898
      if(tmp_long <  (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
899
      if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
900
      if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
901
     }
1051 killagreg 902
     else
992 hbuss 903
     {
904
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 905
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
992 hbuss 906
      tmp_long /= 16;
907
      tmp_long2 /= 16;
908
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
909
      {
910
      tmp_long  /= 3;
911
      tmp_long2 /= 3;
1216 killagreg 912
      }
913
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
992 hbuss 914
      {
915
      tmp_long  /= 3;
916
      tmp_long2 /= 3;
917
      }
1155 hbuss 918
 
919
#define AUSGLEICH  32
992 hbuss 920
      if(tmp_long >  AUSGLEICH)  tmp_long  = AUSGLEICH;
921
      if(tmp_long < -AUSGLEICH)  tmp_long  =-AUSGLEICH;
922
      if(tmp_long2 > AUSGLEICH)  tmp_long2 = AUSGLEICH;
923
      if(tmp_long2 <-AUSGLEICH)  tmp_long2 =-AUSGLEICH;
924
     }
1166 hbuss 925
 
926
//if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;}
1111 hbuss 927
   Mess_IntegralNick -= tmp_long;
928
   Mess_IntegralRoll -= tmp_long2;
469 hbuss 929
  }
1051 killagreg 930
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 931
 if(ZaehlMessungen >= ABGLEICH_ANZAHL)
932
 {
933
  static int cnt = 0;
934
  static char last_n_p,last_n_n,last_r_p,last_r_n;
935
  static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt;
1173 hbuss 936
  if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp)
173 holgerb 937
  {
395 hbuss 938
    MittelIntegralNick  /= ABGLEICH_ANZAHL;
939
    MittelIntegralRoll  /= ABGLEICH_ANZAHL;
940
        IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL;
941
        IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
942
    IntegralAccZ    = IntegralAccZ / ABGLEICH_ANZAHL;
492 hbuss 943
#define MAX_I 0//(Poti2/10)
395 hbuss 944
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
945
    IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
946
    ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich;
1051 killagreg 947
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
948
    IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
395 hbuss 949
    ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
614 hbuss 950
 
951
    LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
498 hbuss 952
    LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 953
 
992 hbuss 954
   if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1))
614 hbuss 955
    {
956
     LageKorrekturNick /= 2;
720 ingob 957
     LageKorrekturRoll /= 2;
614 hbuss 958
    }
498 hbuss 959
 
1051 killagreg 960
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 961
// Gyro-Drift ermitteln
1051 killagreg 962
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 963
    MittelIntegralNick2 /= ABGLEICH_ANZAHL;
964
    MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
1051 killagreg 965
    tmp_long  = IntegralNick2 - IntegralNick;
966
    tmp_long2 = IntegralRoll2 - IntegralRoll;
395 hbuss 967
    //DebugOut.Analog[25] = MittelIntegralRoll2 / 26;
968
 
969
    IntegralFehlerNick = tmp_long;
970
    IntegralFehlerRoll = tmp_long2;
971
    Mess_IntegralNick2 -= IntegralFehlerNick;
972
    Mess_IntegralRoll2 -= IntegralFehlerRoll;
973
 
1111 hbuss 974
  if(EE_Parameter.Driftkomp)
975
   {
927 hbuss 976
    if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; }
977
    if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; }
1111 hbuss 978
   }
693 hbuss 979
    GierGyroFehler = 0;
720 ingob 980
 
981
 
1243 killagreg 982
#define FEHLER_LIMIT  (ABGLEICH_ANZAHL / 2)
983
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
1225 hbuss 984
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16
492 hbuss 985
#define BEWEGUNGS_LIMIT 20000
395 hbuss 986
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
987
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 988
        if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4;
1173 hbuss 989
        if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 990
        {
1051 killagreg 991
        if(IntegralFehlerNick >  FEHLER_LIMIT2)
395 hbuss 992
         {
1051 killagreg 993
           if(last_n_p)
395 hbuss 994
           {
1173 hbuss 995
            cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 996
            ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 997
            if(ausgleichNick > 5000) ausgleichNick = 5000;
498 hbuss 998
            LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 999
           }
395 hbuss 1000
           else last_n_p = 1;
1001
         } else  last_n_p = 0;
1051 killagreg 1002
        if(IntegralFehlerNick < -FEHLER_LIMIT2)
395 hbuss 1003
         {
1004
           if(last_n_n)
1051 killagreg 1005
            {
1173 hbuss 1006
             cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1007
             ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1008
             if(ausgleichNick < -5000) ausgleichNick = -5000;
498 hbuss 1009
             LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1010
            }
395 hbuss 1011
           else last_n_n = 1;
1012
         } else  last_n_n = 0;
1051 killagreg 1013
        }
1014
        else
847 hbuss 1015
        {
1016
         cnt = 0;
921 hbuss 1017
         KompassSignalSchlecht = 1000;
1051 killagreg 1018
        }
499 hbuss 1019
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1020
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1021
        if(IntegralFehlerNick >  FEHLER_LIMIT)   AdNeutralNick += cnt;
1022
        if(IntegralFehlerNick < -FEHLER_LIMIT)   AdNeutralNick -= cnt;
401 hbuss 1023
 
395 hbuss 1024
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 1025
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 1026
        if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4;
498 hbuss 1027
        ausgleichRoll = 0;
1173 hbuss 1028
        if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1029
        {
1051 killagreg 1030
        if(IntegralFehlerRoll >  FEHLER_LIMIT2)
395 hbuss 1031
         {
1051 killagreg 1032
           if(last_r_p)
395 hbuss 1033
           {
1173 hbuss 1034
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1035
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1036
            if(ausgleichRoll > 5000) ausgleichRoll = 5000;
498 hbuss 1037
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
1051 killagreg 1038
           }
395 hbuss 1039
           else last_r_p = 1;
1040
         } else  last_r_p = 0;
1051 killagreg 1041
        if(IntegralFehlerRoll < -FEHLER_LIMIT2)
395 hbuss 1042
         {
1051 killagreg 1043
           if(last_r_n)
395 hbuss 1044
           {
1173 hbuss 1045
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1046
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1047
            if(ausgleichRoll < -5000) ausgleichRoll = -5000;
498 hbuss 1048
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 1049
           }
1050
           else last_r_n = 1;
1051
         } else  last_r_n = 0;
1051 killagreg 1052
        } else
492 hbuss 1053
        {
1054
         cnt = 0;
921 hbuss 1055
         KompassSignalSchlecht = 1000;
1051 killagreg 1056
        }
499 hbuss 1057
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1058
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1059
        if(IntegralFehlerRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
1060
        if(IntegralFehlerRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
173 holgerb 1061
  }
1051 killagreg 1062
  else
498 hbuss 1063
  {
1064
   LageKorrekturRoll = 0;
1065
   LageKorrekturNick = 0;
880 hbuss 1066
   TrichterFlug = 0;
498 hbuss 1067
  }
1051 killagreg 1068
 
498 hbuss 1069
  if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
1051 killagreg 1070
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
1071
   MittelIntegralNick_Alt = MittelIntegralNick;
1072
   MittelIntegralRoll_Alt = MittelIntegralRoll;
1073
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1074
    IntegralAccNick = 0;
1075
    IntegralAccRoll = 0;
1076
    IntegralAccZ = 0;
1077
    MittelIntegralNick = 0;
1078
    MittelIntegralRoll = 0;
1079
    MittelIntegralNick2 = 0;
1080
    MittelIntegralRoll2 = 0;
1081
    ZaehlMessungen = 0;
1173 hbuss 1082
 } //  ZaehlMessungen >= ABGLEICH_ANZAHL
395 hbuss 1083
 
1173 hbuss 1084
 
1051 killagreg 1085
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1086
//  Gieren
1051 killagreg 1087
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 1088
//    if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;};
1051 killagreg 1089
    if(abs(StickGier) > 15) // war 35
1 ingob 1090
     {
921 hbuss 1091
      KompassSignalSchlecht = 1000;
1051 killagreg 1092
      if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX))
1093
       {
1094
         NeueKompassRichtungMerken = 1;
824 hbuss 1095
        };
1 ingob 1096
     }
395 hbuss 1097
    tmp_int  = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo  y = ax + bx²
1051 killagreg 1098
    tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
173 holgerb 1099
    sollGier = tmp_int;
1051 killagreg 1100
    Mess_Integral_Gier -= tmp_int;
395 hbuss 1101
    if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000;  // begrenzen
1102
    if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
1051 killagreg 1103
 
1104
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1105
//  Kompass
1051 killagreg 1106
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1175 hbuss 1107
//DebugOut.Analog[16] = KompassSignalSchlecht;
819 hbuss 1108
 
1051 killagreg 1109
    if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
1 ingob 1110
     {
819 hbuss 1111
       int w,v,r,fehler,korrektur;
1 ingob 1112
       w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
1113
       v = abs(IntegralRoll /512);
1114
       if(v > w) w = v; // grösste Neigung ermitteln
824 hbuss 1115
       korrektur = w / 8 + 1;
921 hbuss 1116
       fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180;
1171 hbuss 1117
       if(abs(MesswertGier) > 128)
1036 hbuss 1118
            {
1119
                 fehler = 0;
1051 killagreg 1120
                }
921 hbuss 1121
       if(!KompassSignalSchlecht && w < 25)
1122
        {
1123
        GierGyroFehler += fehler;
1051 killagreg 1124
        if(NeueKompassRichtungMerken)
1125
         {
1352 hbuss 1126
//         beeptime = 200;
847 hbuss 1127
//         KompassStartwert = KompassValue;
1171 hbuss 1128
                  ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
921 hbuss 1129
          KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR);
1130
          NeueKompassRichtungMerken = 0;
1131
         }
1 ingob 1132
        }
824 hbuss 1133
       ErsatzKompass += (fehler * 8) / korrektur;
921 hbuss 1134
       w = (w * Parameter_KompassWirkung) / 32;           // auf die Wirkung normieren
1 ingob 1135
       w = Parameter_KompassWirkung - w;                  // Wirkung ggf drosseln
921 hbuss 1136
       if(w >= 0)
1 ingob 1137
        {
1051 killagreg 1138
          if(!KompassSignalSchlecht)
693 hbuss 1139
          {
1051 killagreg 1140
           v = 64 + ((MaxStickNick + MaxStickRoll)) / 8;
847 hbuss 1141
           r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180;
1142
//           r = KompassRichtung;
819 hbuss 1143
           v = (r * w) / v;  // nach Kompass ausrichten
1144
           w = 3 * Parameter_KompassWirkung;
693 hbuss 1145
           if(v > w) v = w; // Begrenzen
1051 killagreg 1146
           else
693 hbuss 1147
           if(v < -w) v = -w;
1148
           Mess_Integral_Gier += v;
1051 killagreg 1149
          }
693 hbuss 1150
          if(KompassSignalSchlecht) KompassSignalSchlecht--;
1051 killagreg 1151
        }
921 hbuss 1152
        else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek
1051 killagreg 1153
     }
1154
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1155
 
1051 killagreg 1156
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1157
//  Debugwerte zuordnen
1051 killagreg 1158
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1159
  if(!TimerWerteausgabe--)
1160
   {
395 hbuss 1161
    TimerWerteausgabe = 24;
805 hbuss 1162
 
1171 hbuss 1163
    DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
1164
    DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
1165
    DebugOut.Analog[2] = Mittelwert_AccNick / 4;
1166
    DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
1 ingob 1167
    DebugOut.Analog[4] = MesswertGier;
1314 killagreg 1168
    DebugOut.Analog[5] = HoehenWert/5;
1224 hbuss 1169
    DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az;
1 ingob 1170
    DebugOut.Analog[8] = KompassValue;
297 holgerb 1171
    DebugOut.Analog[9] = UBat;
1283 hbuss 1172
    DebugOut.Analog[10] = SenderOkay;
1051 killagreg 1173
    DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR;
929 hbuss 1174
    //DebugOut.Analog[16] = Mittelwert_AccHoch;
1083 killagreg 1175
    //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance;
1253 killagreg 1176
    DebugOut.Analog[18] = VarioMeter;
819 hbuss 1177
    DebugOut.Analog[19] = WinkelOut.CalcState;
1328 hbuss 1178
    DebugOut.Analog[20] = ServoNickValue;
1322 hbuss 1179
//    DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ;
1171 hbuss 1180
//    DebugOut.Analog[24] = MesswertNick/2;
1181
//    DebugOut.Analog[25] = MesswertRoll/2;
1322 hbuss 1182
//    DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift;
1172 hbuss 1183
//    DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion;
1184
//    DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K;
1322 hbuss 1185
    //DebugOut.Analog[28] = I2CError;
1352 hbuss 1186
//    DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay;
1216 killagreg 1187
    DebugOut.Analog[30] = GPS_Nick;
720 ingob 1188
    DebugOut.Analog[31] = GPS_Roll;
1 ingob 1189
  }
1190
 
1051 killagreg 1191
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1192
//  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
1051 killagreg 1193
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1194
  if(TrichterFlug)  { SummeRoll = 0; SummeNick = 0;};
604 hbuss 1195
 
1171 hbuss 1196
  if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
1197
  if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
1153 hbuss 1198
 
1167 hbuss 1199
#define TRIM_MAX 200
1166 hbuss 1200
 if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else  if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
1201
 if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else  if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
1153 hbuss 1202
 
1166 hbuss 1203
    MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
1204
    MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
1211 hbuss 1205
    MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
1166 hbuss 1206
 
1 ingob 1207
    // Maximalwerte abfangen
1153 hbuss 1208
//    #define MAX_SENSOR  (4096*STICK_GAIN)
1209
    #define MAX_SENSOR  (4096*4)
1216 killagreg 1210
    if(MesswertNick >  MAX_SENSOR) MesswertNick =  MAX_SENSOR;
1 ingob 1211
    if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
1212
    if(MesswertRoll >  MAX_SENSOR) MesswertRoll =  MAX_SENSOR;
1213
    if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
1214
    if(MesswertGier >  MAX_SENSOR) MesswertGier =  MAX_SENSOR;
1215
    if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
1216
 
1051 killagreg 1217
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1218
// Höhenregelung
1219
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
1051 killagreg 1220
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1374 hbuss 1221
  if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
855 hbuss 1222
  GasMischanteil *= STICK_GAIN;
1309 hbuss 1223
 
1224
        // if height control is activated
1322 hbuss 1225
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick))  // Höhenregelung
1309 hbuss 1226
        {
1332 hbuss 1227
                #define HOOVER_GAS_AVERAGE 4096L                // 4096 * 2ms = 8.2s averaging
1228
                #define HC_GAS_AVERAGE 4                        // 4 * 2ms= 8ms averaging
1309 hbuss 1229
                #define OPA_OFFSET_STEP 10
1230
                int HCGas, HeightDeviation;
1231
                static int HeightTrimming = 0;  // rate for change of height setpoint
1232
                static int FilterHCGas = 0;
1332 hbuss 1233
                static int StickGasHoover = 120, HooverGas = 0, HooverGasMin = 0, HooverGasMax = 1023;
1309 hbuss 1234
                static unsigned long HooverGasFilter = 0;
1322 hbuss 1235
                static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
1320 hbuss 1236
            int CosAttitude;    // for projection of hoover gas
1330 killagreg 1237
 
1309 hbuss 1238
                // get the current hooverpoint
1332 hbuss 1239
//    if(LoadHandler == 1)
1328 hbuss 1240
     {
1322 hbuss 1241
                DebugOut.Analog[21] = HooverGas;
1309 hbuss 1242
                DebugOut.Analog[18] = VarioMeter;
1243
 
1322 hbuss 1244
        // Expand the measurement
1245
                // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
1246
          if(!BaroExpandActive)
1247
                   {
1248
                        if(MessLuftdruck > 920)
1249
                        {   // increase offset
1330 killagreg 1250
             if(OCR0A < (255 - OPA_OFFSET_STEP))
1322 hbuss 1251
                           {
1252
                                ExpandBaro -= 1;
1253
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
1254
                                beeptime = 300;
1352 hbuss 1255
                                BaroExpandActive = 350;
1330 killagreg 1256
                           }
1257
                           else
1322 hbuss 1258
                           {
1259
                            BaroAtLowerLimit = 1;
1260
               }
1261
                        }
1262
                        // measurement of air pressure close to lower limit and
1330 killagreg 1263
                        else
1322 hbuss 1264
                        if(MessLuftdruck < 100)
1265
                        {   // decrease offset
1330 killagreg 1266
                          if(OCR0A > OPA_OFFSET_STEP)
1322 hbuss 1267
                           {
1268
                                ExpandBaro += 1;
1269
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
1270
                                beeptime = 300;
1352 hbuss 1271
                                BaroExpandActive = 350;
1330 killagreg 1272
                           }
1273
                           else
1322 hbuss 1274
                           {
1275
                            BaroAtUpperLimit = 1;
1276
               }
1277
                        }
1330 killagreg 1278
                        else
1322 hbuss 1279
                        {
1280
                            BaroAtUpperLimit = 0;
1281
                                BaroAtLowerLimit = 0;
1282
                        }
1283
                   }
1284
                   else // delay, because of expanding the Baro-Range
1285
                   {
1286
                    // now clear the D-values
1287
                          SummenHoehe = HoehenWert * SM_FILTER;
1288
                          VarioMeter = 0;
1289
                          BaroExpandActive--;
1290
                   }
1328 hbuss 1291
 
1292
                // if height control is activated by an rc channel
1293
        if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)  // Regler wird über Schalter gesteuert
1294
                {       // check if parameter is less than activation threshold
1295
                        if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position
1296
                        {   //height control not active
1297
                                if(!delay--)
1298
                                {
1299
                                        HoehenReglerAktiv = 0; // disable height control
1300
                                        SollHoehe = HoehenWert;  // update SetPoint with current reading
1301
                                        delay = 1;
1302
                                }
1303
                        }
1304
                        else
1305
                        {       //height control is activated
1306
                                HoehenReglerAktiv = 1; // enable height control
1334 killagreg 1307
                                delay = 200;
1328 hbuss 1308
                        }
1051 killagreg 1309
                }
1309 hbuss 1310
                else // no switchable height control
1311
                {
1312
                        SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung;
1313
                        HoehenReglerAktiv = 1;
1051 killagreg 1314
                }
1322 hbuss 1315
 
1320 hbuss 1316
                // calculate cos of nick and roll angle used for projection of the vertical hoover gas
1330 killagreg 1317
                tmp_int  = (int)(IntegralNick/GIER_GRAD_FAKTOR);  // nick angle in deg
1318
                tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR);  // roll angle in deg
1319
                CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
1320 hbuss 1320
                LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
1321
                CosAttitude = c_cos_8192(CosAttitude);  // cos of actual attitude
1309 hbuss 1322
                if(HoehenReglerAktiv && !(MikroKopterFlags & FLAG_NOTLANDUNG))
1323
                {
1324
                        #define HEIGHT_TRIM_UP          0x01
1325
                        #define HEIGHT_TRIM_DOWN        0x02
1326
                        static unsigned char HeightTrimmingFlag = 0x00;
1327
 
1330 killagreg 1328
                        #define HEIGHT_CONTROL_STICKTHRESHOLD 15
1309 hbuss 1329
                // Holger original version
1330
                // start of height control algorithm
1331
                // the height control is only an attenuation of the actual gas stick.
1332
                // I.e. it will work only if the gas stick is higher than the hover gas
1333
                // and the hover height will be allways larger than height setpoint.
1314 killagreg 1334
        if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER))  // Regler wird über Schalter gesteuert)
1335
              {  // old version
1309 hbuss 1336
                        HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
1337
                        HeightTrimming = 0;
1338
          }
1314 killagreg 1339
                  else
1309 hbuss 1340
                  {
1341
                // alternative height control
1342
                // PD-Control with respect to hoover point
1343
                // the thrust loss out of horizontal attitude is compensated
1344
                // the setpoint will be fine adjusted with the gas stick position
1345
                        if(MikroKopterFlags & FLAG_FLY) // trim setpoint only when flying
1346
                        {   // gas stick is above hoover point
1322 hbuss 1347
                                if(StickGas > (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
1309 hbuss 1348
                                {
1349
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN)
1350
                                        {
1351
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN;
1352
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1353
                                        }
1354
                                        HeightTrimmingFlag |= HEIGHT_TRIM_UP;
1320 hbuss 1355
                                        HeightTrimming += abs(StickGas - (StickGasHoover + HEIGHT_CONTROL_STICKTHRESHOLD));
1309 hbuss 1356
                                } // gas stick is below hoover point
1322 hbuss 1357
                                else if(StickGas < (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )
1309 hbuss 1358
                                {
1359
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_UP)
1360
                                        {
1361
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_UP;
1362
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1363
                                        }
1364
                                        HeightTrimmingFlag |= HEIGHT_TRIM_DOWN;
1320 hbuss 1365
                                        HeightTrimming -= abs(StickGas - (StickGasHoover - HEIGHT_CONTROL_STICKTHRESHOLD));
1309 hbuss 1366
                                }
1367
                                else // Gas Stick in Hoover Range
1368
                                {
1352 hbuss 1369
                                        if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN))
1309 hbuss 1370
                                        {
1352 hbuss 1371
                                                HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN);
1309 hbuss 1372
                                                HeightTrimming = 0;
1373
                                                SollHoehe = HoehenWert; // update setpoint to current height
1374
                                                if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500;
1375
                                        }
1376
                                }
1377
                                // Trim height set point
1334 killagreg 1378
                                if(abs(HeightTrimming) > 512)
1309 hbuss 1379
                                {
1332 hbuss 1380
                                        SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint
1309 hbuss 1381
                                        HeightTrimming = 0;
1382
                                        if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75;
1320 hbuss 1383
                                        //update hoover gas stick value when setpoint is shifted
1332 hbuss 1384
                       if(!EE_Parameter.Hoehe_StickNeutralPoint)
1385
                       {
1386
                           StickGasHoover = HooverGas/STICK_GAIN; //rescale back to stick value
1387
                           StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning;
1388
                           if(StickGasHoover < 70) StickGasHoover = 70;
1389
                           else if(StickGasHoover > 150) StickGasHoover = 150;
1390
                       }
1309 hbuss 1391
                                }
1352 hbuss 1392
              if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active
1309 hbuss 1393
                        } //if MikroKopterFlags & MKFLAG_FLY
1330 killagreg 1394
                        else
1395
                        {
1322 hbuss 1396
                         SollHoehe = HoehenWert - 400;
1328 hbuss 1397
                         if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint;
1398
                         else StickGasHoover = 120;
1320 hbuss 1399
                         }
1309 hbuss 1400
                        HCGas = HooverGas;      // take hoover gas (neutral point)
1401
          }
1314 killagreg 1402
 
1403
         if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT))
1283 hbuss 1404
                 {
1309 hbuss 1405
            // ------------------------- P-Part ----------------------------
1312 hbuss 1406
            HeightDeviation = (int)(HoehenWert - SollHoehe); // positive when too high
1309 hbuss 1407
                        tmp_int = (HeightDeviation * (int)Parameter_Hoehe_P) / 16; // p-part
1408
                        HCGas -= tmp_int;
1409
                        // ------------------------- D-Part 1: Vario Meter ----------------------------
1410
                        tmp_int = VarioMeter / 8;
1411
                        if(tmp_int > 8) tmp_int = 8; // limit quadratic part on upward movement to avoid to much gas reduction
1412
                        if(tmp_int > 0) tmp_int = VarioMeter + (tmp_int * tmp_int) / 4;
1413
                        else            tmp_int = VarioMeter - (tmp_int * tmp_int) / 4;
1414
                        tmp_int = (Parameter_Luftdruck_D * (long)(tmp_int)) / 128L; // scale to d-gain parameter
1415
                        LIMIT_MIN_MAX(tmp_int, -127, 255);
1416
                        HCGas -= tmp_int;
1417
                        // ------------------------ D-Part 2: ACC-Z Integral  ------------------------
1418
                        tmp_int = ((Mess_Integral_Hoch / 128) * (long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN);
1419
                        LIMIT_MIN_MAX(tmp_int, -127, 255);
1420
                        HCGas -= tmp_int;
1330 killagreg 1421
 
1309 hbuss 1422
                        // limit deviation from hoover point within the target region
1314 killagreg 1423
                        if( (abs(HeightDeviation) < 150)  && (!HeightTrimming) && (HooverGas > 0)) // height setpoint is not changed and hoover gas not zero
1309 hbuss 1424
                        {
1425
                                LIMIT_MIN_MAX(HCGas, HooverGasMin, HooverGasMax); // limit gas around the hoover point
1426
                        }
1276 hbuss 1427
 
1322 hbuss 1428
            if(BaroExpandActive) HCGas = HooverGas;
1309 hbuss 1429
                        // ------------------------ D-Part 3: GpsZ  ----------------------------------
1430
                        tmp_int = (Parameter_Hoehe_GPS_Z * (long)FromNaviCtrl_Value.GpsZ)/128L;
1322 hbuss 1431
            LIMIT_MIN_MAX(tmp_int, -127, 255);
1309 hbuss 1432
                        HCGas -= tmp_int;
1330 killagreg 1433
 
1322 hbuss 1434
                        // strech control output by inverse attitude projection 1/cos
1435
            // + 1/cos(angle)  ++++++++++++++++++++++++++
1330 killagreg 1436
                        tmp_long2 = (int32_t)HCGas;
1437
                        tmp_long2 *= 8192L;
1438
                        tmp_long2 /= CosAttitude;
1439
                        HCGas = (int16_t)tmp_long2;
1309 hbuss 1440
                        // update height control gas averaging
1441
                        FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
1442
                        // limit height control gas pd-control output
1443
                        LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
1444
                        // set GasMischanteil to HeightControlGasFilter
1314 killagreg 1445
            if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)
1446
                         {  // old version
1309 hbuss 1447
                if(FilterHCGas > GasMischanteil) FilterHCGas = GasMischanteil; // nicht mehr als Gas
1314 killagreg 1448
                         }
1309 hbuss 1449
                        GasMischanteil = FilterHCGas;
1314 killagreg 1450
                  }
1309 hbuss 1451
                }// EOF height control active
1320 hbuss 1452
                else // HC not active
1453
                {
1454
                        //update hoover gas stick value when HC is not active
1322 hbuss 1455
           if(!EE_Parameter.Hoehe_StickNeutralPoint)
1456
                    {
1457
                         StickGasHoover = HooverGas/STICK_GAIN; // rescale back to stick value
1458
                         StickGasHoover = (StickGasHoover * UBat) / BattLowVoltageWarning;
1459
                        }
1460
                        else StickGasHoover = EE_Parameter.Hoehe_StickNeutralPoint;
1330 killagreg 1461
            if(StickGasHoover < 70) StickGasHoover = 70;
1462
            else if(StickGasHoover > 150) StickGasHoover = 150;
1328 hbuss 1463
                        FilterHCGas = GasMischanteil;
1330 killagreg 1464
                }
1283 hbuss 1465
 
1309 hbuss 1466
                // Hoover gas estimation by averaging gas control output on small z-velocities
1467
                // this is done only if height contol option is selected in global config and aircraft is flying
1468
                if((MikroKopterFlags & FLAG_FLY) && !(MikroKopterFlags & FLAG_NOTLANDUNG))
1469
                {
1470
                        if(HooverGasFilter == 0)  HooverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
1471
                        if(abs(VarioMeter) < 100) // only on small vertical speed
1472
                        {
1330 killagreg 1473
                                tmp_long2 = (int32_t)GasMischanteil; // take current thrust
1474
                                tmp_long2 *= CosAttitude;            // apply attitude projection
1475
                                tmp_long2 /= 8192;
1476
 
1309 hbuss 1477
                                // average vertical projected thrust
1478
                                if(modell_fliegt < 2000) // the first 4 seconds
1479
                                {   // reduce the time constant of averaging by factor of 8 to get much faster a stable value
1480
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/8L);
1330 killagreg 1481
                                        HooverGasFilter += 8L * tmp_long2;
1309 hbuss 1482
                                }
1483
                                else if(modell_fliegt < 4000) // the first 8 seconds
1484
                                {   // reduce the time constant of averaging by factor of 4 to get much faster a stable value
1485
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/4L);
1330 killagreg 1486
                                        HooverGasFilter += 4L * tmp_long2;
1309 hbuss 1487
                                }
1488
                                else if(modell_fliegt < 8000) // the first 16 seconds
1489
                                {   // reduce the time constant of averaging by factor of 2 to get much faster a stable value
1490
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/2L);
1330 killagreg 1491
                                        HooverGasFilter += 2L * tmp_long2;
1309 hbuss 1492
                                }
1493
                                else //later
1494
                                {
1495
                                        HooverGasFilter -= HooverGasFilter/HOOVER_GAS_AVERAGE;
1330 killagreg 1496
                                        HooverGasFilter += tmp_long2;
1309 hbuss 1497
                                }
1498
                                HooverGas = (int16_t)(HooverGasFilter/HOOVER_GAS_AVERAGE);
1499
                                if(EE_Parameter.Hoehe_HoverBand)
1500
                                {
1501
                                        int16_t band;
1502
                                        band = HooverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
1503
                                        HooverGasMin = HooverGas - band;
1504
                                        HooverGasMax = HooverGas + band;
1505
                                }
1506
                                else
1507
                                {       // no limit
1508
                                        HooverGasMin = 0;
1509
                                        HooverGasMax = 1023;
1510
                                }
1511
                        }
1512
                }
1330 killagreg 1513
          }
1322 hbuss 1514
//DebugOut.Analog[26] = HooverGasMax;
1309 hbuss 1515
        }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL
1516
 
1517
        // limit gas to parameter setting
1320 hbuss 1518
  LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
855 hbuss 1519
  if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
1111 hbuss 1520
 
1051 killagreg 1521
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1320 hbuss 1522
// all BL-Ctrl connected?
1523
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1330 killagreg 1524
  if(MissingMotor)
1320 hbuss 1525
  if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0)
1526
   {
1527
    modell_fliegt = 1;
1528
        GasMischanteil = MIN_GAS;
1529
   }
1530
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1531
// + Mischer und PI-Regler
1051 killagreg 1532
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 1533
  DebugOut.Analog[7] = GasMischanteil;
1051 killagreg 1534
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1535
// Gier-Anteil
1051 killagreg 1536
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
855 hbuss 1537
    GierMischanteil = MesswertGier - sollGier * STICK_GAIN;     // Regler für Gier
1538
#define MIN_GIERGAS  (40*STICK_GAIN)  // unter diesem Gaswert trotzdem Gieren
693 hbuss 1539
   if(GasMischanteil > MIN_GIERGAS)
1540
    {
1051 killagreg 1541
     if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
1542
     if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
693 hbuss 1543
    }
1051 killagreg 1544
    else
693 hbuss 1545
    {
1051 killagreg 1546
     if(GierMischanteil > (MIN_GIERGAS / 2))  GierMischanteil = MIN_GIERGAS / 2;
1547
     if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2);
693 hbuss 1548
    }
855 hbuss 1549
    tmp_int = MAX_GAS*STICK_GAIN;
1051 killagreg 1550
    if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil));
855 hbuss 1551
    if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil));
513 hbuss 1552
 
1051 killagreg 1553
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1554
// Nick-Achse
1051 killagreg 1555
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
723 hbuss 1556
    DiffNick = MesswertNick - StickNick;        // Differenz bestimmen
1153 hbuss 1557
    if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung
1051 killagreg 1558
    else  SummeNick += DiffNick; // I-Anteil bei HH
855 hbuss 1559
    if(SummeNick >  (STICK_GAIN * 16000L)) SummeNick =  (STICK_GAIN * 16000L);
1560
    if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN);
1153 hbuss 1561
    pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick
1 ingob 1562
    // Motor Vorn
499 hbuss 1563
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153 hbuss 1564
    if(pd_ergebnis_nick >  tmp_int) pd_ergebnis_nick =  tmp_int;
1565
    if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
173 holgerb 1566
 
1153 hbuss 1567
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1568
// Roll-Achse
1569
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1570
        DiffRoll = MesswertRoll - StickRoll;    // Differenz bestimmen
1571
    if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
1572
    else                 SummeRoll += DiffRoll;  // I-Anteil bei HH
1573
    if(SummeRoll >  (STICK_GAIN * 16000L)) SummeRoll =  (STICK_GAIN * 16000L);
1574
    if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
1575
    pd_ergebnis_roll = DiffRoll + SummeRoll / Ki;       // PI-Regler für Roll
1576
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1577
    if(pd_ergebnis_roll >  tmp_int) pd_ergebnis_roll =  tmp_int;
1578
    if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
1579
 
1580
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1209 hbuss 1581
// Universal Mixer
1155 hbuss 1582
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1583
 for(i=0; i<MAX_MOTORS; i++)
1209 hbuss 1584
 {
1585
  signed int tmp_int;
1586
  if(Mixer.Motor[i][0] > 0)
1587
   {
1588
    tmp_int =  ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
1589
    tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
1590
    tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
1591
    tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
1592
    tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]);  // Filter
1216 killagreg 1593
        tmp_int = tmp_motorwert[i] / STICK_GAIN;
1209 hbuss 1594
        CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS);
1216 killagreg 1595
    Motor[i] = tmp_int;
1209 hbuss 1596
   }
1597
   else Motor[i] = 0;
1598
 }
1167 hbuss 1599
/*
1153 hbuss 1600
if(Poti1 > 20)  Motor1 = 0;
1601
if(Poti1 > 90)  Motor6 = 0;
1602
if(Poti1 > 140) Motor2 = 0;
1175 hbuss 1603
//if(Poti1 > 200) Motor7 = 0;
1167 hbuss 1604
*/
1111 hbuss 1605
}