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1 ingob 1
/*#######################################################################################
2
Flight Control
3
#######################################################################################*/
4
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
5
// + Copyright (c) 04.2007 Holger Buss
6
// + Nur für den privaten Gebrauch
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
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 27
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1 ingob 28
// + mit unserer Zustimmung zulässig
29
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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
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// +     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
831 hbuss 42
// +   * porting to systems other than 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
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// +  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
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
492 hbuss 50
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
1 ingob 51
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
1051 killagreg 52
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 53
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
54
 
55
#include "main.h"
395 hbuss 56
#include "eeprom.c"
1 ingob 57
 
58
unsigned char h,m,s;
173 holgerb 59
volatile unsigned int I2CTimeout = 100;
1153 hbuss 60
int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll;
1166 hbuss 61
int TrimNick, TrimRoll;
1051 killagreg 62
int AdNeutralGierBias;
927 hbuss 63
int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
64
int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0;
805 hbuss 65
int NaviAccNick, NaviAccRoll,NaviCntAcc = 0;
1 ingob 66
volatile float NeutralAccZ = 0;
67
unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0;
693 hbuss 68
long IntegralNick = 0,IntegralNick2 = 0;
69
long IntegralRoll = 0,IntegralRoll2 = 0;
70
long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
71
long Integral_Gier = 0;
72
long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0;
73
long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0;
74
long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
75
long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2;
1 ingob 76
volatile long Mess_Integral_Hoch = 0;
1153 hbuss 77
int  KompassValue = 0;
78
int  KompassStartwert = 0;
79
int  KompassRichtung = 0;
693 hbuss 80
unsigned int  KompassSignalSchlecht = 500;
855 hbuss 81
unsigned char  MAX_GAS,MIN_GAS;
1 ingob 82
unsigned char HoehenReglerAktiv = 0;
880 hbuss 83
unsigned char TrichterFlug = 0;
395 hbuss 84
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
693 hbuss 85
long  ErsatzKompass;
86
int   ErsatzKompassInGrad; // Kompasswert in Grad
87
int   GierGyroFehler = 0;
1211 hbuss 88
char GyroFaktor,GyroFaktorGier;
89
char IntegralFaktor,IntegralFaktorGier;
1153 hbuss 90
int  DiffNick,DiffRoll;
1051 killagreg 91
int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
1 ingob 92
volatile unsigned char SenderOkay = 0;
1243 killagreg 93
volatile unsigned char SenderRSSI = 0;
595 hbuss 94
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
1 ingob 95
char MotorenEin = 0;
1246 killagreg 96
long HoehenWert = 0;
97
long SollHoehe = 0;
498 hbuss 98
int LageKorrekturRoll = 0,LageKorrekturNick = 0;
1153 hbuss 99
//float Ki =  FAKTOR_I;
100
int Ki = 10300 / 33;
395 hbuss 101
unsigned char Looping_Nick = 0,Looping_Roll = 0;
102
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
1 ingob 103
 
104
unsigned char Parameter_Luftdruck_D  = 48;      // Wert : 0-250
105
unsigned char Parameter_MaxHoehe     = 251;      // Wert : 0-250
106
unsigned char Parameter_Hoehe_P      = 16;      // Wert : 0-32
107
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
108
unsigned char Parameter_KompassWirkung = 64;    // Wert : 0-250
1283 hbuss 109
unsigned char Parameter_Hoehe_GPS_Z = 64;        // Wert : 0-250
1111 hbuss 110
unsigned char Parameter_Gyro_D = 8;             // Wert : 0-250
173 holgerb 111
unsigned char Parameter_Gyro_P = 150;           // Wert : 10-250
1 ingob 112
unsigned char Parameter_Gyro_I = 150;           // Wert : 0-250
113
unsigned char Parameter_Gier_P = 2;             // Wert : 1-20
114
unsigned char Parameter_I_Faktor = 10;          // Wert : 1-20
115
unsigned char Parameter_UserParam1 = 0;
116
unsigned char Parameter_UserParam2 = 0;
117
unsigned char Parameter_UserParam3 = 0;
118
unsigned char Parameter_UserParam4 = 0;
499 hbuss 119
unsigned char Parameter_UserParam5 = 0;
120
unsigned char Parameter_UserParam6 = 0;
121
unsigned char Parameter_UserParam7 = 0;
122
unsigned char Parameter_UserParam8 = 0;
1 ingob 123
unsigned char Parameter_ServoNickControl = 100;
1232 hbuss 124
unsigned char Parameter_ServoRollControl = 100;
173 holgerb 125
unsigned char Parameter_LoopGasLimit = 70;
1120 hbuss 126
unsigned char Parameter_AchsKopplung1 = 90;
127
unsigned char Parameter_AchsKopplung2 = 65;
128
unsigned char Parameter_CouplingYawCorrection = 64;
129
//unsigned char Parameter_AchsGegenKopplung1 = 0;
499 hbuss 130
unsigned char Parameter_DynamicStability = 100;
921 hbuss 131
unsigned char Parameter_J16Bitmask;             // for the J16 Output
132
unsigned char Parameter_J16Timing;              // for the J16 Output
133
unsigned char Parameter_J17Bitmask;             // for the J17 Output
134
unsigned char Parameter_J17Timing;              // for the J17 Output
135
unsigned char Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 136
unsigned char Parameter_NaviGpsGain;
137
unsigned char Parameter_NaviGpsP;
138
unsigned char Parameter_NaviGpsI;
139
unsigned char Parameter_NaviGpsD;
140
unsigned char Parameter_NaviGpsACC;
993 hbuss 141
unsigned char Parameter_NaviOperatingRadius;
142
unsigned char Parameter_NaviWindCorrection;
143
unsigned char Parameter_NaviSpeedCompensation;
921 hbuss 144
unsigned char Parameter_ExternalControl;
1 ingob 145
struct mk_param_struct EE_Parameter;
492 hbuss 146
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
614 hbuss 147
int MaxStickNick = 0,MaxStickRoll = 0;
871 hbuss 148
unsigned int  modell_fliegt = 0;
1209 hbuss 149
volatile unsigned char MikroKopterFlags = 0;
1121 hbuss 150
long GIER_GRAD_FAKTOR = 1291;
1153 hbuss 151
signed int KopplungsteilNickRoll,KopplungsteilRollNick;
1209 hbuss 152
unsigned char RequiredMotors = 4;
153
unsigned char Motor[MAX_MOTORS];
154
signed int tmp_motorwert[MAX_MOTORS];
1309 hbuss 155
#define LIMIT_MIN(value, min) {if(value < min) value = min;}
156
#define LIMIT_MAX(value, max) {if(value > max) value = max;}
157
#define LIMIT_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;}
1155 hbuss 158
 
1166 hbuss 159
int MotorSmoothing(int neu, int alt)
160
{
161
 int motor;
162
 if(neu > alt) motor = (1*(int)alt + neu) / 2;
163
 else   motor = neu - (alt - neu)*1;
164
//if(Poti2 < 20)  return(neu);
165
 return(motor);
166
}
167
 
1232 hbuss 168
void Piep(unsigned char Anzahl, unsigned int dauer)
1 ingob 169
{
1232 hbuss 170
 if(MotorenEin) return; //auf keinen Fall im Flug!
1 ingob 171
 while(Anzahl--)
172
 {
1232 hbuss 173
  beeptime = dauer;
174
  while(beeptime);
175
  Delay_ms(dauer * 2);
1 ingob 176
 }
177
}
178
 
179
//############################################################################
180
//  Nullwerte ermitteln
181
void SetNeutral(void)
182
//############################################################################
183
{
1111 hbuss 184
 unsigned char i;
185
 unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0;
1171 hbuss 186
    ServoActive = 0; HEF4017R_ON;
1051 killagreg 187
        NeutralAccX = 0;
1 ingob 188
        NeutralAccY = 0;
189
        NeutralAccZ = 0;
1051 killagreg 190
    AdNeutralNick = 0;
191
        AdNeutralRoll = 0;
1 ingob 192
        AdNeutralGier = 0;
927 hbuss 193
    AdNeutralGierBias = 0;
395 hbuss 194
    Parameter_AchsKopplung1 = 0;
1120 hbuss 195
    Parameter_AchsKopplung2 = 0;
1036 hbuss 196
    ExpandBaro = 0;
1051 killagreg 197
    CalibrierMittelwert();
395 hbuss 198
    Delay_ms_Mess(100);
1 ingob 199
        CalibrierMittelwert();
200
    if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
1051 killagreg 201
     {
1 ingob 202
      if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
203
     }
1166 hbuss 204
#define NEUTRAL_FILTER 32
205
    for(i=0; i<NEUTRAL_FILTER; i++)
1111 hbuss 206
         {
207
          Delay_ms_Mess(10);
1216 killagreg 208
          gier_neutral += AdWertGier;
1166 hbuss 209
          nick_neutral += AdWertNick;
210
          roll_neutral += AdWertRoll;
1111 hbuss 211
         }
1173 hbuss 212
     AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
213
         AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
214
         AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
1111 hbuss 215
     AdNeutralGierBias = AdNeutralGier;
401 hbuss 216
     StartNeutralRoll = AdNeutralRoll;
217
     StartNeutralNick = AdNeutralNick;
1051 killagreg 218
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
513 hbuss 219
    {
1171 hbuss 220
      NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
221
          NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
513 hbuss 222
          NeutralAccZ = Aktuell_az;
223
    }
1051 killagreg 224
    else
513 hbuss 225
    {
226
      NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]);
227
          NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]);
228
          NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]);
229
    }
1051 killagreg 230
 
1 ingob 231
    MesswertNick = 0;
232
    MesswertRoll = 0;
233
    MesswertGier = 0;
1111 hbuss 234
    Delay_ms_Mess(100);
1174 hbuss 235
    Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
236
    Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
1173 hbuss 237
    IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
238
    IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
239
    Mess_IntegralNick2 = IntegralNick;
240
    Mess_IntegralRoll2 = IntegralRoll;
241
    Mess_Integral_Gier = 0;
1 ingob 242
    StartLuftdruck = Luftdruck;
1253 killagreg 243
    VarioMeter = 0;
1 ingob 244
    Mess_Integral_Hoch = 0;
245
    KompassStartwert = KompassValue;
246
    GPS_Neutral();
1051 killagreg 247
    beeptime = 50;
882 hbuss 248
        Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L;
249
        Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L;
492 hbuss 250
    ExternHoehenValue = 0;
693 hbuss 251
    ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
252
    GierGyroFehler = 0;
723 hbuss 253
    SendVersionToNavi = 1;
921 hbuss 254
    LED_Init();
255
    MikroKopterFlags |= FLAG_CALIBRATE;
992 hbuss 256
    FromNaviCtrl_Value.Kalman_K = -1;
1173 hbuss 257
    FromNaviCtrl_Value.Kalman_MaxDrift = 0;
992 hbuss 258
    FromNaviCtrl_Value.Kalman_MaxFusion = 32;
1172 hbuss 259
    Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110;
260
    Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110;
261
    Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110;
262
    Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110;
1232 hbuss 263
//    ServoActive = 1;
1171 hbuss 264
    SenderOkay = 100;
1 ingob 265
}
266
 
267
//############################################################################
395 hbuss 268
// Bearbeitet die Messwerte
1 ingob 269
void Mittelwert(void)
270
//############################################################################
1051 killagreg 271
{
1111 hbuss 272
    static signed long tmpl,tmpl2,tmpl3,tmpl4;
273
        static signed int oldNick, oldRoll, d2Roll, d2Nick;
1153 hbuss 274
        signed long winkel_nick, winkel_roll;
1171 hbuss 275
 
1111 hbuss 276
        MesswertGier = (signed int) AdNeutralGier - AdWertGier;
277
//    MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier;
1171 hbuss 278
    MesswertNick = (signed int) AdWertNickFilter / 8;
279
    MesswertRoll = (signed int) AdWertRollFilter / 8;
1153 hbuss 280
    RohMesswertNick = MesswertNick;
281
    RohMesswertRoll = MesswertRoll;
1120 hbuss 282
//DebugOut.Analog[21] = MesswertNick;
283
//DebugOut.Analog[22] = MesswertRoll;
1121 hbuss 284
//DebugOut.Analog[22] = Mess_Integral_Gier;
1216 killagreg 285
//DebugOut.Analog[21] = MesswertNick;
286
//DebugOut.Analog[22] = MesswertRoll;
1166 hbuss 287
 
395 hbuss 288
// Beschleunigungssensor  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 289
        Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L;
290
        Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L;
291
        Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L;
395 hbuss 292
    IntegralAccNick += ACC_AMPLIFY * AdWertAccNick;
293
    IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll;
805 hbuss 294
    NaviAccNick    += AdWertAccNick;
295
    NaviAccRoll    += AdWertAccRoll;
296
    NaviCntAcc++;
1153 hbuss 297
    IntegralAccZ  += Aktuell_az - NeutralAccZ;
298
 
1155 hbuss 299
//++++++++++++++++++++++++++++++++++++++++++++++++
300
// ADC einschalten
1171 hbuss 301
    ANALOG_ON;
1155 hbuss 302
        AdReady = 0;
303
//++++++++++++++++++++++++++++++++++++++++++++++++
304
 
1216 killagreg 305
    if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L;
306
        else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L;
1153 hbuss 307
        else winkel_roll = Mess_IntegralRoll;
308
 
1216 killagreg 309
    if(Mess_IntegralNick > 93000L) winkel_nick = 93000L;
310
        else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L;
1153 hbuss 311
        else winkel_nick = Mess_IntegralNick;
312
 
1120 hbuss 313
// Gier  ++++++++++++++++++++++++++++++++++++++++++++++++
1153 hbuss 314
   Mess_Integral_Gier += MesswertGier;
315
   ErsatzKompass += MesswertGier;
395 hbuss 316
// Kopplungsanteil  +++++++++++++++++++++++++++++++++++++
317
      if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV))
318
         {
1153 hbuss 319
            tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
1120 hbuss 320
            tmpl3 *= Parameter_AchsKopplung2; //65
1111 hbuss 321
            tmpl3 /= 4096L;
1153 hbuss 322
            tmpl4 = (MesswertNick * winkel_roll) / 2048L;
1216 killagreg 323
            tmpl4 *= Parameter_AchsKopplung2; //65
1111 hbuss 324
            tmpl4 /= 4096L;
1153 hbuss 325
            KopplungsteilNickRoll = tmpl3;
326
            KopplungsteilRollNick = tmpl4;
1111 hbuss 327
            tmpl4 -= tmpl3;
328
            ErsatzKompass += tmpl4;
1166 hbuss 329
            if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen
1111 hbuss 330
 
1153 hbuss 331
            tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L;
1111 hbuss 332
            tmpl *= Parameter_AchsKopplung1;  // 90
880 hbuss 333
            tmpl /= 4096L;
1153 hbuss 334
            tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L;
395 hbuss 335
            tmpl2 *= Parameter_AchsKopplung1;
880 hbuss 336
            tmpl2 /= 4096L;
1225 hbuss 337
            if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1;
1153 hbuss 338
            //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
395 hbuss 339
         }
1166 hbuss 340
      else  tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
1111 hbuss 341
 
1166 hbuss 342
TrimRoll = tmpl - tmpl2 / 100L;
343
TrimNick = -tmpl2 + tmpl / 100L;
344
 
1111 hbuss 345
// Kompasswert begrenzen  ++++++++++++++++++++++++++++++++++++++++++++++++
346
                    if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR;  // 360° Umschlag
347
                    if(ErsatzKompass < 0)                          ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
395 hbuss 348
// Roll  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 349
            Mess_IntegralRoll2 += MesswertRoll + TrimRoll;
350
            Mess_IntegralRoll +=  MesswertRoll + TrimRoll - LageKorrekturRoll;
1051 killagreg 351
            if(Mess_IntegralRoll > Umschlag180Roll)
395 hbuss 352
            {
882 hbuss 353
             Mess_IntegralRoll  = -(Umschlag180Roll - 25000L);
395 hbuss 354
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 355
            }
395 hbuss 356
            if(Mess_IntegralRoll <-Umschlag180Roll)
357
            {
882 hbuss 358
             Mess_IntegralRoll =  (Umschlag180Roll - 25000L);
395 hbuss 359
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 360
            }
395 hbuss 361
// Nick  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 362
            Mess_IntegralNick2 += MesswertNick + TrimNick;
363
            Mess_IntegralNick  += MesswertNick + TrimNick - LageKorrekturNick;
1051 killagreg 364
            if(Mess_IntegralNick > Umschlag180Nick)
882 hbuss 365
             {
366
              Mess_IntegralNick = -(Umschlag180Nick - 25000L);
367
              Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 368
             }
369
            if(Mess_IntegralNick <-Umschlag180Nick)
395 hbuss 370
            {
882 hbuss 371
             Mess_IntegralNick =  (Umschlag180Nick - 25000L);
395 hbuss 372
             Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 373
            }
1111 hbuss 374
 
1 ingob 375
    Integral_Gier  = Mess_Integral_Gier;
376
    IntegralNick = Mess_IntegralNick;
377
    IntegralRoll = Mess_IntegralRoll;
1051 killagreg 378
    IntegralNick2 = Mess_IntegralNick2;
1 ingob 379
    IntegralRoll2 = Mess_IntegralRoll2;
380
 
1166 hbuss 381
#define D_LIMIT 128
382
 
1171 hbuss 383
   MesswertNick = HiResNick / 8;
384
   MesswertRoll = HiResRoll / 8;
1166 hbuss 385
 
1167 hbuss 386
   if(AdWertNick < 15)   MesswertNick = -1000;  if(AdWertNick <  7)   MesswertNick = -2000;
387
   if(PlatinenVersion == 10)  { if(AdWertNick > 1010) MesswertNick = +1000;  if(AdWertNick > 1017) MesswertNick = +2000; }
388
   else  {  if(AdWertNick > 2000) MesswertNick = +1000;  if(AdWertNick > 2015) MesswertNick = +2000; }
389
   if(AdWertRoll < 15)   MesswertRoll = -1000;  if(AdWertRoll <  7)   MesswertRoll = -2000;
390
   if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000;  if(AdWertRoll > 1017) MesswertRoll = +2000; }
391
   else { if(AdWertRoll > 2000) MesswertRoll = +1000;  if(AdWertRoll > 2015) MesswertRoll = +2000;  }
392
 
1216 killagreg 393
  if(Parameter_Gyro_D)
1111 hbuss 394
  {
1166 hbuss 395
   d2Nick = HiResNick - oldNick;
396
   oldNick = (oldNick + HiResNick)/2;
1111 hbuss 397
   if(d2Nick > D_LIMIT) d2Nick = D_LIMIT;
398
   else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT;
1166 hbuss 399
   MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16;
400
   d2Roll = HiResRoll - oldRoll;
401
   oldRoll = (oldRoll + HiResRoll)/2;
1111 hbuss 402
   if(d2Roll > D_LIMIT) d2Roll = D_LIMIT;
403
   else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT;
1166 hbuss 404
   MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16;
405
   HiResNick += (d2Nick * (signed int) Parameter_Gyro_D);
406
   HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D);
1216 killagreg 407
  }
1111 hbuss 408
 
1166 hbuss 409
 if(RohMesswertRoll > 0) TrimRoll  += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
410
 else                    TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
411
 if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
412
 else                    TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
1153 hbuss 413
 
414
  if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
415
  {
416
    if(RohMesswertNick > 256)       MesswertNick += 1 * (RohMesswertNick - 256);
417
    else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
418
    if(RohMesswertRoll > 256)       MesswertRoll += 1 * (RohMesswertRoll - 256);
419
    else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256);
420
  }
421
 
1 ingob 422
    if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--;
423
    if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--;
424
    if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--;
425
    if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--;
426
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
427
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
428
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
429
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
430
}
431
 
432
//############################################################################
433
// Messwerte beim Ermitteln der Nullage
434
void CalibrierMittelwert(void)
435
//############################################################################
1051 killagreg 436
{
1021 hbuss 437
    if(PlatinenVersion == 13) SucheGyroOffset();
1 ingob 438
    // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
439
        ANALOG_OFF;
395 hbuss 440
        MesswertNick = AdWertNick;
441
        MesswertRoll = AdWertRoll;
442
        MesswertGier = AdWertGier;
443
        Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
444
        Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
445
        Mittelwert_AccHoch = (long)AdWertAccHoch;
446
   // ADC einschalten
1051 killagreg 447
    ANALOG_ON;
1 ingob 448
    if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--;
449
    if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--;
450
    if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--;
451
    if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--;
452
    if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
453
    if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
454
    if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
455
    if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
395 hbuss 456
 
457
        Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
720 ingob 458
        Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
1 ingob 459
}
460
 
461
//############################################################################
462
// Senden der Motorwerte per I2C-Bus
463
void SendMotorData(void)
464
//############################################################################
1051 killagreg 465
{
1209 hbuss 466
 unsigned char i;
921 hbuss 467
    if(!MotorenEin)
1 ingob 468
        {
1212 hbuss 469
         MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY);
1216 killagreg 470
                 for(i=0;i<MAX_MOTORS;i++)
471
                  {
472
                   if(!PC_MotortestActive)  MotorTest[i] = 0;
1212 hbuss 473
                   Motor[i] = MotorTest[i];
1216 killagreg 474
                  }
1212 hbuss 475
          if(PC_MotortestActive) PC_MotortestActive--;
1216 killagreg 476
        }
1212 hbuss 477
        else MikroKopterFlags |= FLAG_MOTOR_RUN;
1111 hbuss 478
 
1212 hbuss 479
    DebugOut.Analog[12] = Motor[0];
480
    DebugOut.Analog[13] = Motor[1];
481
    DebugOut.Analog[14] = Motor[3];
482
    DebugOut.Analog[15] = Motor[2];
1 ingob 483
 
484
    //Start I2C Interrupt Mode
485
    twi_state = 0;
486
    motor = 0;
1051 killagreg 487
    i2c_start();
1 ingob 488
}
489
 
490
 
491
 
492
//############################################################################
493
// Trägt ggf. das Poti als Parameter ein
1051 killagreg 494
void ParameterZuordnung(void)
1 ingob 495
//############################################################################
496
{
921 hbuss 497
 #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
498
 #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; }
1 ingob 499
 CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255);
921 hbuss 500
 CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
501
 CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
1 ingob 502
 CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255);
1283 hbuss 503
 CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z,0,255);
1 ingob 504
 CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255);
921 hbuss 505
 CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
1 ingob 506
 CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255);
1120 hbuss 507
 CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D,0,255);
1051 killagreg 508
 CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255);
509
 CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255);
510
 CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255);
511
 CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255);
512
 CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255);
513
 CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255);
514
 CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255);
515
 CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255);
516
 CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255);
1 ingob 517
 CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
1232 hbuss 518
 CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl,0,255);
173 holgerb 519
 CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255);
395 hbuss 520
 CHK_POTI(Parameter_AchsKopplung1,    EE_Parameter.AchsKopplung1,0,255);
1120 hbuss 521
 CHK_POTI(Parameter_AchsKopplung2,    EE_Parameter.AchsKopplung2,0,255);
522
 CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255);
523
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
499 hbuss 524
 CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255);
921 hbuss 525
 CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255);
526
 CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255);
527
 CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255);
1153 hbuss 528
 Ki = 10300 / (Parameter_I_Faktor + 1);
1 ingob 529
 MAX_GAS = EE_Parameter.Gas_Max;
530
 MIN_GAS = EE_Parameter.Gas_Min;
531
}
532
 
533
 
819 hbuss 534
 
1 ingob 535
//############################################################################
536
//
537
void MotorRegler(void)
538
//############################################################################
539
{
1309 hbuss 540
         int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int;
1 ingob 541
         int GierMischanteil,GasMischanteil;
542
     static long SummeNick=0,SummeRoll=0;
543
     static long sollGier = 0,tmp_long,tmp_long2;
395 hbuss 544
     static long IntegralFehlerNick = 0;
545
     static long IntegralFehlerRoll = 0;
1 ingob 546
         static unsigned int RcLostTimer;
547
         static unsigned char delay_neutral = 0;
548
         static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
549
     static char TimerWerteausgabe = 0;
550
     static char NeueKompassRichtungMerken = 0;
395 hbuss 551
     static long ausgleichNick, ausgleichRoll;
1153 hbuss 552
     int IntegralNickMalFaktor,IntegralRollMalFaktor;
1209 hbuss 553
         unsigned char i;
1051 killagreg 554
        Mittelwert();
555
 
1 ingob 556
    GRN_ON;
1051 killagreg 557
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 558
// Gaswert ermitteln
1051 killagreg 559
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
560
        GasMischanteil = StickGas;
831 hbuss 561
    if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
1051 killagreg 562
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 563
// Empfang schlecht
1051 killagreg 564
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 565
   if(SenderOkay < 100)
566
        {
1051 killagreg 567
        if(RcLostTimer) RcLostTimer--;
568
        else
1 ingob 569
         {
570
          MotorenEin = 0;
1254 killagreg 571
          MikroKopterFlags &= ~FLAG_NOTLANDUNG;
1051 killagreg 572
         }
1 ingob 573
        ROT_ON;
693 hbuss 574
        if(modell_fliegt > 1000)  // wahrscheinlich in der Luft --> langsam absenken
1 ingob 575
            {
576
            GasMischanteil = EE_Parameter.NotGas;
1254 killagreg 577
            MikroKopterFlags |= FLAG_NOTLANDUNG;
744 hbuss 578
            PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
1051 killagreg 579
            PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
1 ingob 580
            PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
581
            PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
582
            PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
173 holgerb 583
            }
1 ingob 584
         else MotorenEin = 0;
585
        }
1051 killagreg 586
        else
587
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 588
// Emfang gut
1051 killagreg 589
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 590
        if(SenderOkay > 140)
591
            {
1254 killagreg 592
                        MikroKopterFlags &= ~FLAG_NOTLANDUNG;
1 ingob 593
            RcLostTimer = EE_Parameter.NotGasZeit * 50;
921 hbuss 594
            if(GasMischanteil > 40 && MotorenEin)
1 ingob 595
                {
596
                if(modell_fliegt < 0xffff) modell_fliegt++;
597
                }
871 hbuss 598
            if((modell_fliegt < 256))
1 ingob 599
                {
600
                SummeNick = 0;
601
                SummeRoll = 0;
1051 killagreg 602
                if(modell_fliegt == 250)
918 hbuss 603
                 {
1051 killagreg 604
                  NeueKompassRichtungMerken = 1;
918 hbuss 605
                  sollGier = 0;
1051 killagreg 606
                  Mess_Integral_Gier = 0;
927 hbuss 607
//                  Mess_Integral_Gier2 = 0;
1051 killagreg 608
                 }
921 hbuss 609
                } else MikroKopterFlags |= FLAG_FLY;
1051 killagreg 610
 
595 hbuss 611
            if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0)
1 ingob 612
                {
1051 killagreg 613
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 614
// auf Nullwerte kalibrieren
1051 killagreg 615
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 616
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)  // Neutralwerte
617
                    {
618
                    if(++delay_neutral > 200)  // nicht sofort
619
                        {
620
                        GRN_OFF;
621
                        MotorenEin = 0;
622
                        delay_neutral = 0;
623
                        modell_fliegt = 0;
624
                        if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)
625
                        {
304 ingob 626
                         unsigned char setting=1;
1 ingob 627
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1;
628
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2;
629
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3;
630
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4;
631
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5;
1063 killagreg 632
                         SetActiveParamSetNumber(setting);  // aktiven Datensatz merken
1 ingob 633
                        }
820 hbuss 634
//                        else
1051 killagreg 635
                         if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70)
636
                          {
819 hbuss 637
                           WinkelOut.CalcState = 1;
638
                           beeptime = 1000;
639
                          }
640
                          else
1 ingob 641
                          {
819 hbuss 642
                               ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
643
                           if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
644
                            {
1 ingob 645
                             if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
1051 killagreg 646
                            }
819 hbuss 647
                           SetNeutral();
1232 hbuss 648
                                                   ServoActive = 1;
649
                                                   DDRD  |=0x80; // enable J7 -> Servo signal
650
                           Piep(GetActiveParamSetNumber(),120);
819 hbuss 651
                         }
1051 killagreg 652
                        }
1 ingob 653
                    }
1051 killagreg 654
                 else
513 hbuss 655
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)  // ACC Neutralwerte speichern
656
                    {
657
                    if(++delay_neutral > 200)  // nicht sofort
658
                        {
659
                        GRN_OFF;
660
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen
661
                        MotorenEin = 0;
662
                        delay_neutral = 0;
663
                        modell_fliegt = 0;
664
                        SetNeutral();
665
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern
666
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern
667
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256);
668
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256);
669
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256);
670
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256);
1232 hbuss 671
                        Piep(GetActiveParamSetNumber(),120);
1051 killagreg 672
                        }
513 hbuss 673
                    }
1 ingob 674
                 else delay_neutral = 0;
675
                }
1051 killagreg 676
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 677
// Gas ist unten
1051 killagreg 678
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
595 hbuss 679
            if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120)
1 ingob 680
                {
681
                // Starten
682
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)
683
                    {
1051 killagreg 684
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 685
// Einschalten
1051 killagreg 686
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 687
                    if(++delay_einschalten > 200)
688
                        {
689
                        delay_einschalten = 200;
690
                        modell_fliegt = 1;
691
                        MotorenEin = 1;
692
                        sollGier = 0;
1051 killagreg 693
                        Mess_Integral_Gier = 0;
1 ingob 694
                        Mess_Integral_Gier2 = 0;
1173 hbuss 695
                        Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
696
                        Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
1 ingob 697
                        Mess_IntegralNick2 = IntegralNick;
698
                        Mess_IntegralRoll2 = IntegralRoll;
699
                        SummeNick = 0;
700
                        SummeRoll = 0;
921 hbuss 701
                        MikroKopterFlags |= FLAG_START;
1051 killagreg 702
                        }
703
                    }
1 ingob 704
                    else delay_einschalten = 0;
705
                //Auf Neutralwerte setzen
1051 killagreg 706
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 707
// Auschalten
1051 killagreg 708
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 709
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)
710
                    {
711
                    if(++delay_ausschalten > 200)  // nicht sofort
712
                        {
1298 hbuss 713
                         MotorenEin = 0;
714
                         delay_ausschalten = 200;
715
                         modell_fliegt = 0;
1051 killagreg 716
                        }
1 ingob 717
                    }
718
                else delay_ausschalten = 0;
719
                }
720
            }
721
 
1051 killagreg 722
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 723
// neue Werte von der Funke
1051 killagreg 724
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 725
 
1254 killagreg 726
 if(!NewPpmData-- || (MikroKopterFlags & FLAG_NOTLANDUNG))
1 ingob 727
  {
604 hbuss 728
        static int stick_nick,stick_roll;
1 ingob 729
    ParameterZuordnung();
1051 killagreg 730
    stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4;
723 hbuss 731
    stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
805 hbuss 732
    StickNick = stick_nick - (GPS_Nick + GPS_Nick2);
604 hbuss 733
 
723 hbuss 734
    stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4;
735
    stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
805 hbuss 736
    StickRoll = stick_roll - (GPS_Roll + GPS_Roll2);
723 hbuss 737
 
1 ingob 738
    StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
1120 hbuss 739
        if(StickGier > 2) StickGier -= 2;       else
740
        if(StickGier < -2) StickGier += 2; else StickGier = 0;
741
 
595 hbuss 742
        StickGas  = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120;
1153 hbuss 743
    GyroFaktor     = (Parameter_Gyro_P + 10.0);
744
    IntegralFaktor = Parameter_Gyro_I;
1211 hbuss 745
    GyroFaktorGier     = (Parameter_Gyro_P + 10.0);
746
    IntegralFaktorGier = Parameter_Gyro_I;
1 ingob 747
 
595 hbuss 748
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
749
//+ Analoge Steuerung per Seriell
750
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
921 hbuss 751
   if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128)
595 hbuss 752
    {
753
         StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P;
754
         StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P;
755
         StickGier += ExternControl.Gier;
756
     ExternHoehenValue =  (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung;
757
     if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
758
    }
855 hbuss 759
    if(StickGas < 0) StickGas = 0;
492 hbuss 760
 
1 ingob 761
    if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
762
    if(GyroFaktor < 0) GyroFaktor = 0;
763
    if(IntegralFaktor < 0) IntegralFaktor = 0;
723 hbuss 764
 
1051 killagreg 765
    if(abs(StickNick/STICK_GAIN) > MaxStickNick)
928 hbuss 766
     {
1051 killagreg 767
      MaxStickNick = abs(StickNick)/STICK_GAIN;
928 hbuss 768
      if(MaxStickNick > 100) MaxStickNick = 100;
1051 killagreg 769
     }
928 hbuss 770
     else MaxStickNick--;
1051 killagreg 771
    if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
928 hbuss 772
     {
1051 killagreg 773
      MaxStickRoll = abs(StickRoll)/STICK_GAIN;
928 hbuss 774
      if(MaxStickRoll > 100) MaxStickRoll = 100;
1051 killagreg 775
     }
928 hbuss 776
     else MaxStickRoll--;
1254 killagreg 777
    if(MikroKopterFlags & FLAG_NOTLANDUNG)  {MaxStickNick = 0; MaxStickRoll = 0;}
723 hbuss 778
 
1051 killagreg 779
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 780
// Looping?
1051 killagreg 781
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
993 hbuss 782
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS)  Looping_Links = 1;
1051 killagreg 783
  else
784
   {
395 hbuss 785
     {
1051 killagreg 786
      if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0;
787
     }
788
   }
993 hbuss 789
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1;
1051 killagreg 790
   else
395 hbuss 791
   {
792
   if(Looping_Rechts) // Hysterese
793
     {
794
      if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0;
795
     }
1051 killagreg 796
   }
173 holgerb 797
 
993 hbuss 798
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1;
1051 killagreg 799
  else
800
   {
395 hbuss 801
    if(Looping_Oben)  // Hysterese
802
     {
1051 killagreg 803
      if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0;
804
     }
805
   }
993 hbuss 806
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1;
1051 killagreg 807
   else
395 hbuss 808
   {
809
    if(Looping_Unten) // Hysterese
810
     {
811
      if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0;
812
     }
1051 killagreg 813
   }
395 hbuss 814
 
815
   if(Looping_Links || Looping_Rechts)   Looping_Roll = 1; else Looping_Roll = 0;
1153 hbuss 816
   if(Looping_Oben  || Looping_Unten) {  Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0;
395 hbuss 817
  } // Ende neue Funken-Werte
818
 
819
  if(Looping_Roll || Looping_Nick)
820
   {
173 holgerb 821
    if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
1153 hbuss 822
        TrichterFlug = 1;
173 holgerb 823
   }
824
 
1051 killagreg 825
 
826
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
827
// Bei Empfangsausfall im Flug
828
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1254 killagreg 829
   if(MikroKopterFlags & FLAG_NOTLANDUNG)
1 ingob 830
    {
831
     StickGier = 0;
832
     StickNick = 0;
833
     StickRoll = 0;
1211 hbuss 834
     GyroFaktor     = 90;
835
     IntegralFaktor = 120;
836
     GyroFaktorGier     = 90;
837
     IntegralFaktorGier = 120;
173 holgerb 838
     Looping_Roll = 0;
839
     Looping_Nick = 0;
1051 killagreg 840
    }
395 hbuss 841
 
842
 
1051 killagreg 843
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 844
// Integrale auf ACC-Signal abgleichen
1051 killagreg 845
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 846
#define ABGLEICH_ANZAHL 256L
847
 
848
 MittelIntegralNick  += IntegralNick;    // Für die Mittelwertbildung aufsummieren
849
 MittelIntegralRoll  += IntegralRoll;
850
 MittelIntegralNick2 += IntegralNick2;
851
 MittelIntegralRoll2 += IntegralRoll2;
852
 
853
 if(Looping_Nick || Looping_Roll)
854
  {
855
    IntegralAccNick = 0;
856
    IntegralAccRoll = 0;
857
    MittelIntegralNick = 0;
858
    MittelIntegralRoll = 0;
859
    MittelIntegralNick2 = 0;
860
    MittelIntegralRoll2 = 0;
861
    Mess_IntegralNick2 = Mess_IntegralNick;
862
    Mess_IntegralRoll2 = Mess_IntegralRoll;
863
    ZaehlMessungen = 0;
498 hbuss 864
    LageKorrekturNick = 0;
865
    LageKorrekturRoll = 0;
395 hbuss 866
  }
867
 
1051 killagreg 868
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1224 hbuss 869
  if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
469 hbuss 870
  {
871
   long tmp_long, tmp_long2;
1171 hbuss 872
   if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/)
992 hbuss 873
     {
874
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 875
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
876
      tmp_long  = (tmp_long  * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
877
      tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
992 hbuss 878
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
879
      {
880
      tmp_long  /= 2;
881
      tmp_long2 /= 2;
882
      }
883
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
884
      {
885
      tmp_long  /= 3;
886
      tmp_long2 /= 3;
887
      }
888
      if(tmp_long >  (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
889
      if(tmp_long <  (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
890
      if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
891
      if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
892
     }
1051 killagreg 893
     else
992 hbuss 894
     {
895
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 896
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
992 hbuss 897
      tmp_long /= 16;
898
      tmp_long2 /= 16;
899
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
900
      {
901
      tmp_long  /= 3;
902
      tmp_long2 /= 3;
1216 killagreg 903
      }
904
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
992 hbuss 905
      {
906
      tmp_long  /= 3;
907
      tmp_long2 /= 3;
908
      }
1155 hbuss 909
 
910
#define AUSGLEICH  32
992 hbuss 911
      if(tmp_long >  AUSGLEICH)  tmp_long  = AUSGLEICH;
912
      if(tmp_long < -AUSGLEICH)  tmp_long  =-AUSGLEICH;
913
      if(tmp_long2 > AUSGLEICH)  tmp_long2 = AUSGLEICH;
914
      if(tmp_long2 <-AUSGLEICH)  tmp_long2 =-AUSGLEICH;
915
     }
1166 hbuss 916
 
917
//if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;}
1111 hbuss 918
   Mess_IntegralNick -= tmp_long;
919
   Mess_IntegralRoll -= tmp_long2;
469 hbuss 920
  }
1051 killagreg 921
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 922
 if(ZaehlMessungen >= ABGLEICH_ANZAHL)
923
 {
924
  static int cnt = 0;
925
  static char last_n_p,last_n_n,last_r_p,last_r_n;
926
  static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt;
1173 hbuss 927
  if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp)
173 holgerb 928
  {
395 hbuss 929
    MittelIntegralNick  /= ABGLEICH_ANZAHL;
930
    MittelIntegralRoll  /= ABGLEICH_ANZAHL;
931
        IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL;
932
        IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
933
    IntegralAccZ    = IntegralAccZ / ABGLEICH_ANZAHL;
492 hbuss 934
#define MAX_I 0//(Poti2/10)
395 hbuss 935
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
936
    IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
937
    ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich;
1051 killagreg 938
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
939
    IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
395 hbuss 940
    ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
614 hbuss 941
 
942
    LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
498 hbuss 943
    LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 944
 
992 hbuss 945
   if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1))
614 hbuss 946
    {
947
     LageKorrekturNick /= 2;
720 ingob 948
     LageKorrekturRoll /= 2;
614 hbuss 949
    }
498 hbuss 950
 
1051 killagreg 951
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 952
// Gyro-Drift ermitteln
1051 killagreg 953
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 954
    MittelIntegralNick2 /= ABGLEICH_ANZAHL;
955
    MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
1051 killagreg 956
    tmp_long  = IntegralNick2 - IntegralNick;
957
    tmp_long2 = IntegralRoll2 - IntegralRoll;
395 hbuss 958
    //DebugOut.Analog[25] = MittelIntegralRoll2 / 26;
959
 
960
    IntegralFehlerNick = tmp_long;
961
    IntegralFehlerRoll = tmp_long2;
962
    Mess_IntegralNick2 -= IntegralFehlerNick;
963
    Mess_IntegralRoll2 -= IntegralFehlerRoll;
964
 
965
//    IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2;
966
//    IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2;
1111 hbuss 967
  if(EE_Parameter.Driftkomp)
968
   {
927 hbuss 969
    if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; }
970
    if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; }
1111 hbuss 971
   }
1153 hbuss 972
//DebugOut.Analog[22] = MittelIntegralRoll / 26;
921 hbuss 973
//DebugOut.Analog[24] = GierGyroFehler;
693 hbuss 974
    GierGyroFehler = 0;
720 ingob 975
 
976
 
977
/*DebugOut.Analog[17] = IntegralAccNick / 26;
395 hbuss 978
DebugOut.Analog[18] = IntegralAccRoll / 26;
979
DebugOut.Analog[19] = IntegralFehlerNick;// / 26;
980
DebugOut.Analog[20] = IntegralFehlerRoll;// / 26;
720 ingob 981
*/
982
//DebugOut.Analog[21] = MittelIntegralNick / 26;
983
//MittelIntegralRoll = MittelIntegralRoll;
469 hbuss 984
//DebugOut.Analog[28] = ausgleichNick;
720 ingob 985
/*
395 hbuss 986
DebugOut.Analog[29] = ausgleichRoll;
498 hbuss 987
DebugOut.Analog[30] = LageKorrekturRoll * 10;
720 ingob 988
*/
395 hbuss 989
 
1243 killagreg 990
#define FEHLER_LIMIT  (ABGLEICH_ANZAHL / 2)
991
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
1225 hbuss 992
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16
492 hbuss 993
#define BEWEGUNGS_LIMIT 20000
395 hbuss 994
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
995
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 996
        if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4;
1173 hbuss 997
        if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 998
        {
1051 killagreg 999
        if(IntegralFehlerNick >  FEHLER_LIMIT2)
395 hbuss 1000
         {
1051 killagreg 1001
           if(last_n_p)
395 hbuss 1002
           {
1173 hbuss 1003
            cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1004
            ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1005
            if(ausgleichNick > 5000) ausgleichNick = 5000;
498 hbuss 1006
            LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1007
           }
395 hbuss 1008
           else last_n_p = 1;
1009
         } else  last_n_p = 0;
1051 killagreg 1010
        if(IntegralFehlerNick < -FEHLER_LIMIT2)
395 hbuss 1011
         {
1012
           if(last_n_n)
1051 killagreg 1013
            {
1173 hbuss 1014
             cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1015
             ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1016
             if(ausgleichNick < -5000) ausgleichNick = -5000;
498 hbuss 1017
             LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1018
            }
395 hbuss 1019
           else last_n_n = 1;
1020
         } else  last_n_n = 0;
1051 killagreg 1021
        }
1022
        else
847 hbuss 1023
        {
1024
         cnt = 0;
921 hbuss 1025
         KompassSignalSchlecht = 1000;
1051 killagreg 1026
        }
499 hbuss 1027
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1028
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1029
        if(IntegralFehlerNick >  FEHLER_LIMIT)   AdNeutralNick += cnt;
1030
        if(IntegralFehlerNick < -FEHLER_LIMIT)   AdNeutralNick -= cnt;
401 hbuss 1031
 
395 hbuss 1032
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 1033
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 1034
        if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4;
498 hbuss 1035
        ausgleichRoll = 0;
1173 hbuss 1036
        if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1037
        {
1051 killagreg 1038
        if(IntegralFehlerRoll >  FEHLER_LIMIT2)
395 hbuss 1039
         {
1051 killagreg 1040
           if(last_r_p)
395 hbuss 1041
           {
1173 hbuss 1042
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1043
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1044
            if(ausgleichRoll > 5000) ausgleichRoll = 5000;
498 hbuss 1045
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
1051 killagreg 1046
           }
395 hbuss 1047
           else last_r_p = 1;
1048
         } else  last_r_p = 0;
1051 killagreg 1049
        if(IntegralFehlerRoll < -FEHLER_LIMIT2)
395 hbuss 1050
         {
1051 killagreg 1051
           if(last_r_n)
395 hbuss 1052
           {
1173 hbuss 1053
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1054
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1055
            if(ausgleichRoll < -5000) ausgleichRoll = -5000;
498 hbuss 1056
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 1057
           }
1058
           else last_r_n = 1;
1059
         } else  last_r_n = 0;
1051 killagreg 1060
        } else
492 hbuss 1061
        {
1062
         cnt = 0;
921 hbuss 1063
         KompassSignalSchlecht = 1000;
1051 killagreg 1064
        }
499 hbuss 1065
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1066
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1067
        if(IntegralFehlerRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
1068
        if(IntegralFehlerRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
173 holgerb 1069
  }
1051 killagreg 1070
  else
498 hbuss 1071
  {
1072
   LageKorrekturRoll = 0;
1073
   LageKorrekturNick = 0;
880 hbuss 1074
   TrichterFlug = 0;
498 hbuss 1075
  }
1051 killagreg 1076
 
498 hbuss 1077
  if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
1051 killagreg 1078
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
1079
   MittelIntegralNick_Alt = MittelIntegralNick;
1080
   MittelIntegralRoll_Alt = MittelIntegralRoll;
1081
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1082
    IntegralAccNick = 0;
1083
    IntegralAccRoll = 0;
1084
    IntegralAccZ = 0;
1085
    MittelIntegralNick = 0;
1086
    MittelIntegralRoll = 0;
1087
    MittelIntegralNick2 = 0;
1088
    MittelIntegralRoll2 = 0;
1089
    ZaehlMessungen = 0;
1173 hbuss 1090
 } //  ZaehlMessungen >= ABGLEICH_ANZAHL
395 hbuss 1091
 
1173 hbuss 1092
 
1051 killagreg 1093
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1094
//  Gieren
1051 killagreg 1095
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 1096
//    if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;};
1051 killagreg 1097
    if(abs(StickGier) > 15) // war 35
1 ingob 1098
     {
921 hbuss 1099
      KompassSignalSchlecht = 1000;
1051 killagreg 1100
      if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX))
1101
       {
1102
         NeueKompassRichtungMerken = 1;
824 hbuss 1103
        };
1 ingob 1104
     }
395 hbuss 1105
    tmp_int  = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo  y = ax + bx²
1051 killagreg 1106
    tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
173 holgerb 1107
    sollGier = tmp_int;
1051 killagreg 1108
    Mess_Integral_Gier -= tmp_int;
395 hbuss 1109
    if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000;  // begrenzen
1110
    if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
1051 killagreg 1111
 
1112
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1113
//  Kompass
1051 killagreg 1114
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1175 hbuss 1115
//DebugOut.Analog[16] = KompassSignalSchlecht;
819 hbuss 1116
 
1051 killagreg 1117
    if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
1 ingob 1118
     {
819 hbuss 1119
       int w,v,r,fehler,korrektur;
1 ingob 1120
       w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
1121
       v = abs(IntegralRoll /512);
1122
       if(v > w) w = v; // grösste Neigung ermitteln
824 hbuss 1123
       korrektur = w / 8 + 1;
921 hbuss 1124
       fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180;
1171 hbuss 1125
       if(abs(MesswertGier) > 128)
1036 hbuss 1126
            {
1127
                 fehler = 0;
1051 killagreg 1128
                }
921 hbuss 1129
       if(!KompassSignalSchlecht && w < 25)
1130
        {
1131
        GierGyroFehler += fehler;
1051 killagreg 1132
        if(NeueKompassRichtungMerken)
1133
         {
921 hbuss 1134
          beeptime = 200;
847 hbuss 1135
//         KompassStartwert = KompassValue;
1171 hbuss 1136
                  ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
921 hbuss 1137
          KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR);
1138
          NeueKompassRichtungMerken = 0;
1139
         }
1 ingob 1140
        }
824 hbuss 1141
       ErsatzKompass += (fehler * 8) / korrektur;
921 hbuss 1142
       w = (w * Parameter_KompassWirkung) / 32;           // auf die Wirkung normieren
1 ingob 1143
       w = Parameter_KompassWirkung - w;                  // Wirkung ggf drosseln
921 hbuss 1144
       if(w >= 0)
1 ingob 1145
        {
1051 killagreg 1146
          if(!KompassSignalSchlecht)
693 hbuss 1147
          {
1051 killagreg 1148
           v = 64 + ((MaxStickNick + MaxStickRoll)) / 8;
847 hbuss 1149
           r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180;
1150
//           r = KompassRichtung;
819 hbuss 1151
           v = (r * w) / v;  // nach Kompass ausrichten
1152
           w = 3 * Parameter_KompassWirkung;
693 hbuss 1153
           if(v > w) v = w; // Begrenzen
1051 killagreg 1154
           else
693 hbuss 1155
           if(v < -w) v = -w;
1156
           Mess_Integral_Gier += v;
1051 killagreg 1157
          }
693 hbuss 1158
          if(KompassSignalSchlecht) KompassSignalSchlecht--;
1051 killagreg 1159
        }
921 hbuss 1160
        else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek
1051 killagreg 1161
     }
1162
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1163
 
1051 killagreg 1164
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1165
//  Debugwerte zuordnen
1051 killagreg 1166
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1167
  if(!TimerWerteausgabe--)
1168
   {
395 hbuss 1169
    TimerWerteausgabe = 24;
805 hbuss 1170
 
1171 hbuss 1171
    DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
1172
    DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
1173
    DebugOut.Analog[2] = Mittelwert_AccNick / 4;
1174
    DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
1 ingob 1175
    DebugOut.Analog[4] = MesswertGier;
1283 hbuss 1176
    DebugOut.Analog[5] = HoehenWert/5;
1224 hbuss 1177
    DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az;
1 ingob 1178
    DebugOut.Analog[8] = KompassValue;
297 holgerb 1179
    DebugOut.Analog[9] = UBat;
1283 hbuss 1180
    DebugOut.Analog[10] = SenderOkay;
1051 killagreg 1181
    DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR;
929 hbuss 1182
    //DebugOut.Analog[16] = Mittelwert_AccHoch;
1083 killagreg 1183
    //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance;
1253 killagreg 1184
    DebugOut.Analog[18] = VarioMeter;
819 hbuss 1185
    DebugOut.Analog[19] = WinkelOut.CalcState;
854 hbuss 1186
    DebugOut.Analog[20] = ServoValue;
1283 hbuss 1187
    DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ;
1171 hbuss 1188
//    DebugOut.Analog[24] = MesswertNick/2;
1189
//    DebugOut.Analog[25] = MesswertRoll/2;
1173 hbuss 1190
    DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift;
1172 hbuss 1191
//    DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion;
1192
//    DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K;
1215 hbuss 1193
    DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay;
1216 killagreg 1194
    DebugOut.Analog[30] = GPS_Nick;
720 ingob 1195
    DebugOut.Analog[31] = GPS_Roll;
1196
 
805 hbuss 1197
 
1198
//    DebugOut.Analog[19] -= DebugOut.Analog[19]/128;
1199
//    if(DebugOut.Analog[19] > 0) DebugOut.Analog[19]--; else DebugOut.Analog[19]++;
1200
 
173 holgerb 1201
/*    DebugOut.Analog[16] = motor_rx[0];
1202
    DebugOut.Analog[17] = motor_rx[1];
1203
    DebugOut.Analog[18] = motor_rx[2];
1204
    DebugOut.Analog[19] = motor_rx[3];
1205
    DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3];
1206
    DebugOut.Analog[20] /= 14;
1207
    DebugOut.Analog[21] = motor_rx[4];
1208
    DebugOut.Analog[22] = motor_rx[5];
1209
    DebugOut.Analog[23] = motor_rx[6];
1210
    DebugOut.Analog[24] = motor_rx[7];
1211
    DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
1212
*/
1213
//    DebugOut.Analog[9] = MesswertNick;
1 ingob 1214
//    DebugOut.Analog[9] = SollHoehe;
1215
//    DebugOut.Analog[10] = Mess_Integral_Gier / 128;
1216
//    DebugOut.Analog[11] = KompassStartwert;
1051 killagreg 1217
//    DebugOut.Analog[10] = Parameter_Gyro_I;
1218
//    DebugOut.Analog[10] = EE_Parameter.Gyro_I;
1219
//    DebugOut.Analog[9] = KompassRichtung;
1 ingob 1220
//    DebugOut.Analog[10] = GasMischanteil;
1221
//    DebugOut.Analog[3] = HoeheD * 32;
1222
//    DebugOut.Analog[4] = hoehenregler;
1223
  }
1224
 
1051 killagreg 1225
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1226
//  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
1051 killagreg 1227
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1228
  if(TrichterFlug)  { SummeRoll = 0; SummeNick = 0;};
604 hbuss 1229
 
1171 hbuss 1230
  if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
1231
  if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
1153 hbuss 1232
 
1167 hbuss 1233
#define TRIM_MAX 200
1166 hbuss 1234
 if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else  if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
1235
 if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else  if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
1153 hbuss 1236
 
1166 hbuss 1237
    MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
1238
    MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
1211 hbuss 1239
    MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
1166 hbuss 1240
 
1 ingob 1241
    // Maximalwerte abfangen
1153 hbuss 1242
//    #define MAX_SENSOR  (4096*STICK_GAIN)
1243
    #define MAX_SENSOR  (4096*4)
1216 killagreg 1244
    if(MesswertNick >  MAX_SENSOR) MesswertNick =  MAX_SENSOR;
1 ingob 1245
    if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
1246
    if(MesswertRoll >  MAX_SENSOR) MesswertRoll =  MAX_SENSOR;
1247
    if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
1248
    if(MesswertGier >  MAX_SENSOR) MesswertGier =  MAX_SENSOR;
1249
    if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
1250
 
1051 killagreg 1251
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1210 hbuss 1252
// all BL-Ctrl connected?
1253
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1254
  if(MissingMotor) if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0)
1255
   {
1256
    modell_fliegt = 1;
1257
        GasMischanteil = MIN_GAS;
1258
   }
1210 hbuss 1259
 
1260
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1261
// Höhenregelung
1262
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
1051 killagreg 1263
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1278 hbuss 1264
  if(UBat > BattLowVoltageWarning) GasMischanteil = (GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
855 hbuss 1265
  GasMischanteil *= STICK_GAIN;
1309 hbuss 1266
 
1267
 
1268
        // if height control is activated
1 ingob 1269
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung
1309 hbuss 1270
        {
1271
                #define HOOVER_GAS_AVERAGE 4096L                // 4096 * 2ms = 8.2s averaging
1272
                #define HC_GAS_AVERAGE 4                        // 4 * 2ms= 8 ms averaging
1273
                #define OPA_OFFSET_STEP 10
1274
                int HCGas, HeightDeviation;
1275
                static int HeightTrimming = 0;  // rate for change of height setpoint
1276
                static int FilterHCGas = 0;
1277
                static int HooverGas = 0, HooverGasMin = 0, HooverGasMax = 1023;
1278
                static unsigned long HooverGasFilter = 0;
1279
                static unsigned char delay = 100;
1280
                long tmp_long3;
1281
        const unsigned char GAS_TAB[31] = {128,128,128,129,129,130,131,132,133,135,136,138,140,142,145,148,151,154,158,162,167,172,178,184,191,199,208,218,229,241,255};
1282
                // get the current hooverpoint
1283
                DebugOut.Analog[25] = HooverGas;
1284
                DebugOut.Analog[18] = VarioMeter;
1285
 
1286
                // if height control is activated by an rc channel
1287
        if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)  // Regler wird über Schalter gesteuert
1288
                {       // check if parameter is less than activation threshold
1289
                        if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position
1290
                        {   //height control not active
1291
                                if(!delay--)
1292
                                {
1293
                                        // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
1294
                                        if( (MessLuftdruck > 1000) && (OCR0A < (255 - OPA_OFFSET_STEP)) )
1295
                                        {   // increase offset
1296
                                                ExpandBaro -= 1;
1297
                                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
1298
                                                beeptime = 300;
1299
                                        delay = 250;
1300
                                        }
1301
                                        // measurement of air pressure close to lower limit and
1302
                                        else if( (MessLuftdruck < 100) && (OCR0A > OPA_OFFSET_STEP) )
1303
                                        {   // decrease offset
1304
                                                ExpandBaro += 1;
1305
                                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
1306
                                                beeptime = 300;
1307
                                        delay = 250;
1308
                                        }
1309
                                        else
1310
                                        {
1311
                                                SollHoehe = HoehenWert;  // update SetPoint with current reading
1312
                                                HoehenReglerAktiv = 0; // disable height control
1313
                                                delay = 1;
1314
                                        }
1315
                                }
1316
                        }
1317
                        else
1318
                        {       //height control is activated
1319
                                HoehenReglerAktiv = 1; // enable height control
1320
                                delay = 200;
1321
                        }
1051 killagreg 1322
                }
1309 hbuss 1323
                else // no switchable height control
1324
                {
1325
                        SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung;
1326
                        HoehenReglerAktiv = 1;
1051 killagreg 1327
                }
1 ingob 1328
 
1309 hbuss 1329
                if(HoehenReglerAktiv && !(MikroKopterFlags & FLAG_NOTLANDUNG))
1330
                {
1331
                        #define HEIGHT_TRIM_UP          0x01
1332
                        #define HEIGHT_TRIM_DOWN        0x02
1333
                        static unsigned char HeightTrimmingFlag = 0x00;
1334
 
1335
                        #define HEIGHT_CONTROL_STICKTHRESHOLD 15 * STICK_GAIN
1336
                // Holger original version
1337
                // start of height control algorithm
1338
                // the height control is only an attenuation of the actual gas stick.
1339
                // I.e. it will work only if the gas stick is higher than the hover gas
1340
                // and the hover height will be allways larger than height setpoint.
1341
        if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER))  // Regler wird über Schalter gesteuert) 
1342
              {  // old version 
1343
                        HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
1344
                        HeightTrimming = 0;
1345
          }
1346
                  else
1347
                  {
1348
                // alternative height control
1349
                // PD-Control with respect to hoover point
1350
                // the thrust loss out of horizontal attitude is compensated
1351
                // the setpoint will be fine adjusted with the gas stick position
1352
                        if(MikroKopterFlags & FLAG_FLY) // trim setpoint only when flying
1353
                        {   // gas stick is above hoover point
1354
                                if(GasMischanteil > (HooverGas + HEIGHT_CONTROL_STICKTHRESHOLD) )
1355
                                {
1356
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN)
1357
                                        {
1358
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN;
1359
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1360
                                        }
1361
                                        HeightTrimmingFlag |= HEIGHT_TRIM_UP;
1362
                                        HeightTrimming += abs(GasMischanteil - (HooverGas + HEIGHT_CONTROL_STICKTHRESHOLD)) / 4;
1363
                                } // gas stick is below hoover point
1364
                                else if(GasMischanteil < (HooverGas - HEIGHT_CONTROL_STICKTHRESHOLD) )
1365
                                {
1366
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_UP)
1367
                                        {
1368
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_UP;
1369
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1370
                                        }
1371
                                        HeightTrimmingFlag |= HEIGHT_TRIM_DOWN;
1372
                                        HeightTrimming -= abs(GasMischanteil - (HooverGas - HEIGHT_CONTROL_STICKTHRESHOLD)) / 4;
1373
                                }
1374
                                else // Gas Stick in Hoover Range
1375
                                {
1376
                                        if(HeightTrimmingFlag & (HEIGHT_TRIM_UP|HEIGHT_TRIM_DOWN))
1377
                                        {
1378
                                                HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP|HEIGHT_TRIM_DOWN);
1379
                                                HeightTrimming = 0;
1380
                                                SollHoehe = HoehenWert; // update setpoint to current height
1381
                                                if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500;
1382
                                        }
1383
                                }
1384
                                // Trim height set point
1385
                                if(abs(HeightTrimming) > 512)
1386
                                {
1387
                                        SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint
1388
                                        HeightTrimming = 0;
1389
                                        if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75;
1390
                                }
1391
                        } //if MikroKopterFlags & MKFLAG_FLY
1392
                        else   SollHoehe = HoehenWert - 200;
1393
                        HCGas = HooverGas;      // take hoover gas (neutral point)
1394
          }
1395
 
1396
         if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT))
1283 hbuss 1397
                 {
1309 hbuss 1398
            // ------------------------- P-Part ----------------------------
1312 hbuss 1399
            HeightDeviation = (int)(HoehenWert - SollHoehe); // positive when too high
1309 hbuss 1400
                        tmp_int = (HeightDeviation * (int)Parameter_Hoehe_P) / 16; // p-part
1401
                        HCGas -= tmp_int;
1402
                        // ------------------------- D-Part 1: Vario Meter ----------------------------
1403
                        tmp_int = VarioMeter / 8;
1404
                        if(tmp_int > 8) tmp_int = 8; // limit quadratic part on upward movement to avoid to much gas reduction
1405
                        if(tmp_int > 0) tmp_int = VarioMeter + (tmp_int * tmp_int) / 4;
1406
                        else            tmp_int = VarioMeter - (tmp_int * tmp_int) / 4;
1407
                        tmp_int = (Parameter_Luftdruck_D * (long)(tmp_int)) / 128L; // scale to d-gain parameter
1408
                        LIMIT_MIN_MAX(tmp_int, -127, 255);
1409
                        HCGas -= tmp_int;
1410
                        // ------------------------ D-Part 2: ACC-Z Integral  ------------------------
1411
                        tmp_int = ((Mess_Integral_Hoch / 128) * (long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN);
1412
                        DebugOut.Analog[23] = -tmp_int;
1413
                        LIMIT_MIN_MAX(tmp_int, -127, 255);
1414
                        HCGas -= tmp_int;
1279 hbuss 1415
 
1309 hbuss 1416
                        // limit deviation from hoover point within the target region
1417
                        if( (!HeightTrimming) && (HooverGas > 0)) // height setpoint is not changed and hoover gas not zero
1418
                        {
1419
                                LIMIT_MIN_MAX(HCGas, HooverGasMin, HooverGasMax); // limit gas around the hoover point
1420
                        }
1276 hbuss 1421
 
1309 hbuss 1422
                        // ------------------------ D-Part 3: GpsZ  ----------------------------------
1423
                        tmp_int = (Parameter_Hoehe_GPS_Z * (long)FromNaviCtrl_Value.GpsZ)/128L;
1424
                        DebugOut.Analog[24] = -tmp_int;
1425
                        HCGas -= tmp_int;
1426
                        // strech control output by inverse attitude projection
1427
// + 1/cos(angle)  ++++++++++++++++++++++++++
1428
            tmp_long3 = labs(IntegralNick) + labs(IntegralRoll);
1429
            tmp_long3 /= 1500;//1024 * 2;
1430
            if(tmp_long3 > 29) tmp_long3 = 29;
1431
            HCGas = ((long) HCGas * GAS_TAB[tmp_long3]) / 128L;
1283 hbuss 1432
 
1309 hbuss 1433
                        // update height control gas averaging
1434
                        FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
1435
                        // limit height control gas pd-control output
1436
                        LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
1437
                        // set GasMischanteil to HeightControlGasFilter
1438
            if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)
1439
                         {  // old version 
1440
                if(FilterHCGas > GasMischanteil) FilterHCGas = GasMischanteil; // nicht mehr als Gas
1441
                         }  
1442
                        GasMischanteil = FilterHCGas;
1443
                  }    
1444
                }// EOF height control active
1283 hbuss 1445
 
1309 hbuss 1446
                // Hoover gas estimation by averaging gas control output on small z-velocities
1447
                // this is done only if height contol option is selected in global config and aircraft is flying
1448
                if((MikroKopterFlags & FLAG_FLY) && !(MikroKopterFlags & FLAG_NOTLANDUNG))
1449
                {
1450
                        if(HooverGasFilter == 0)  HooverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
1451
                        if(abs(VarioMeter) < 100) // only on small vertical speed
1452
                        {
1453
                        tmp_long3 = (long)GasMischanteil; // take current thrust
1454
            tmp_long3 = labs(IntegralNick) + labs(IntegralRoll);
1455
            tmp_long3 /= 1500;//1024 * 2;
1456
            if(tmp_long3 > 29) tmp_long3 = 29;
1457
            tmp_long3 = ((long) GasMischanteil * 128L) / (long) GAS_TAB[tmp_long3];
1283 hbuss 1458
 
1309 hbuss 1459
                                // average vertical projected thrust
1460
                                if(modell_fliegt < 2000) // the first 4 seconds
1461
                                {   // reduce the time constant of averaging by factor of 8 to get much faster a stable value
1462
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/8L);
1463
                                        HooverGasFilter += 8L * tmp_long3;
1464
                                }
1465
                                else if(modell_fliegt < 4000) // the first 8 seconds
1466
                                {   // reduce the time constant of averaging by factor of 4 to get much faster a stable value
1467
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/4L);
1468
                                        HooverGasFilter += 4L * tmp_long3;
1469
                                }
1470
                                else if(modell_fliegt < 8000) // the first 16 seconds
1471
                                {   // reduce the time constant of averaging by factor of 2 to get much faster a stable value
1472
                                        HooverGasFilter -= HooverGasFilter/(HOOVER_GAS_AVERAGE/2L);
1473
                                        HooverGasFilter += 2L * tmp_long3;
1474
                                }
1475
                                else //later
1476
                                {
1477
                                        HooverGasFilter -= HooverGasFilter/HOOVER_GAS_AVERAGE;
1478
                                        HooverGasFilter += tmp_long3;
1479
                                }
1480
                                HooverGas = (int16_t)(HooverGasFilter/HOOVER_GAS_AVERAGE);
1481
                                if(EE_Parameter.Hoehe_HoverBand)
1482
                                {
1483
                                        int16_t band;
1484
                                        band = HooverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
1485
                                        HooverGasMin = HooverGas - band;
1486
                                        HooverGasMax = HooverGas + band;
1487
                                }
1488
                                else
1489
                                {       // no limit
1490
                                        HooverGasMin = 0;
1491
                                        HooverGasMax = 1023;
1492
                                }
1493
                        }
1494
                }
1495
DebugOut.Analog[25] = HooverGas;
1496
DebugOut.Analog[26] = HooverGasMax;
1497
DebugOut.Analog[28] = HooverGasMin;
1279 hbuss 1498
 
1309 hbuss 1499
        }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL
1500
 
1501
        // limit gas to parameter setting
1502
   LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
1503
 
855 hbuss 1504
  if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
1111 hbuss 1505
 
1051 killagreg 1506
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1507
// + Mischer und PI-Regler
1051 killagreg 1508
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 1509
  DebugOut.Analog[7] = GasMischanteil;
1051 killagreg 1510
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1511
// Gier-Anteil
1051 killagreg 1512
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
188 holgerb 1513
#define MUL_G  1.0
855 hbuss 1514
    GierMischanteil = MesswertGier - sollGier * STICK_GAIN;     // Regler für Gier
604 hbuss 1515
// GierMischanteil = 0;
855 hbuss 1516
#define MIN_GIERGAS  (40*STICK_GAIN)  // unter diesem Gaswert trotzdem Gieren
693 hbuss 1517
   if(GasMischanteil > MIN_GIERGAS)
1518
    {
1051 killagreg 1519
     if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
1520
     if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
693 hbuss 1521
    }
1051 killagreg 1522
    else
693 hbuss 1523
    {
1051 killagreg 1524
     if(GierMischanteil > (MIN_GIERGAS / 2))  GierMischanteil = MIN_GIERGAS / 2;
1525
     if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2);
693 hbuss 1526
    }
855 hbuss 1527
    tmp_int = MAX_GAS*STICK_GAIN;
1051 killagreg 1528
    if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil));
855 hbuss 1529
    if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil));
513 hbuss 1530
 
1051 killagreg 1531
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1532
// Nick-Achse
1051 killagreg 1533
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
723 hbuss 1534
    DiffNick = MesswertNick - StickNick;        // Differenz bestimmen
1153 hbuss 1535
    if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung
1051 killagreg 1536
    else  SummeNick += DiffNick; // I-Anteil bei HH
855 hbuss 1537
    if(SummeNick >  (STICK_GAIN * 16000L)) SummeNick =  (STICK_GAIN * 16000L);
1538
    if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN);
1153 hbuss 1539
    pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick
1 ingob 1540
    // Motor Vorn
499 hbuss 1541
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153 hbuss 1542
    if(pd_ergebnis_nick >  tmp_int) pd_ergebnis_nick =  tmp_int;
1543
    if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
173 holgerb 1544
 
1153 hbuss 1545
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1546
// Roll-Achse
1547
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1548
        DiffRoll = MesswertRoll - StickRoll;    // Differenz bestimmen
1549
    if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
1550
    else                 SummeRoll += DiffRoll;  // I-Anteil bei HH
1551
    if(SummeRoll >  (STICK_GAIN * 16000L)) SummeRoll =  (STICK_GAIN * 16000L);
1552
    if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
1553
    pd_ergebnis_roll = DiffRoll + SummeRoll / Ki;       // PI-Regler für Roll
1554
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1555
    if(pd_ergebnis_roll >  tmp_int) pd_ergebnis_roll =  tmp_int;
1556
    if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
1557
 
1558
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1209 hbuss 1559
// Universal Mixer
1155 hbuss 1560
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1561
 for(i=0; i<MAX_MOTORS; i++)
1209 hbuss 1562
 {
1563
  signed int tmp_int;
1564
  if(Mixer.Motor[i][0] > 0)
1565
   {
1566
    tmp_int =  ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
1567
    tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
1568
    tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
1569
    tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
1570
    tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]);  // Filter
1216 killagreg 1571
        tmp_int = tmp_motorwert[i] / STICK_GAIN;
1209 hbuss 1572
        CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS);
1216 killagreg 1573
    Motor[i] = tmp_int;
1209 hbuss 1574
   }
1575
   else Motor[i] = 0;
1576
 }
1167 hbuss 1577
/*
1153 hbuss 1578
if(Poti1 > 20)  Motor1 = 0;
1579
if(Poti1 > 90)  Motor6 = 0;
1580
if(Poti1 > 140) Motor2 = 0;
1175 hbuss 1581
//if(Poti1 > 200) Motor7 = 0;
1167 hbuss 1582
*/
1111 hbuss 1583
}