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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*####################################################################################### |
| 2 | Flight Control |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1338 | ingob | 5 | // + Copyright (c) Holger Buss, Ingo Busker |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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| 1 | ingob | 7 | // + www.MikroKopter.com |
| 8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 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. |
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| 11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 14 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 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 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 21 | // + eindeutig als Ursprung verlinkt werden |
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| 22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 24 | // + Benutzung auf eigene Gefahr |
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| 25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1338 | ingob | 27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 28 | // + mit unserer Zustimmung zulässig |
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 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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| 35 | // + from this software without specific prior written permission. |
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| 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 |
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| 1338 | ingob | 42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 1 | ingob | 43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 1322 | hbuss | 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 1 | ingob | 52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 1051 | killagreg | 53 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 55 | |||
| 56 | #include "main.h" |
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| 1320 | hbuss | 57 | #include "mymath.h" |
| 1330 | killagreg | 58 | #include "isqrt.h" |
| 1 | ingob | 59 | |
| 1352 | hbuss | 60 | unsigned char h,m,s; |
| 61 | unsigned int BaroExpandActive = 0; |
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| 1153 | hbuss | 62 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| 1166 | hbuss | 63 | int TrimNick, TrimRoll; |
| 927 | hbuss | 64 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| 1703 | holgerb | 65 | int Mittelwert_AccNick, Mittelwert_AccRoll; |
| 1643 | holgerb | 66 | unsigned int NeutralAccX=0, NeutralAccY=0; |
| 805 | hbuss | 67 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| 1639 | holgerb | 68 | int NeutralAccZ = 0; |
| 1683 | killagreg | 69 | unsigned char ControlHeading = 0;// in 2° |
| 693 | hbuss | 70 | long IntegralNick = 0,IntegralNick2 = 0; |
| 71 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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| 72 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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| 73 | long Integral_Gier = 0; |
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| 74 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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| 75 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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| 76 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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| 77 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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| 1685 | holgerb | 78 | long SummeNick=0,SummeRoll=0; |
| 1 | ingob | 79 | volatile long Mess_Integral_Hoch = 0; |
| 1840 | holgerb | 80 | int KompassValue = -1; |
| 1837 | holgerb | 81 | int KompassSollWert = 0; |
| 1941 | holgerb | 82 | //int KompassRichtung = 0; |
| 1839 | holgerb | 83 | char CalculateCompassTimer = 100; |
| 84 | unsigned char KompassFusion = 32; |
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| 85 | unsigned int KompassSignalSchlecht = 50; |
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| 855 | hbuss | 86 | unsigned char MAX_GAS,MIN_GAS; |
| 1 | ingob | 87 | unsigned char HoehenReglerAktiv = 0; |
| 880 | hbuss | 88 | unsigned char TrichterFlug = 0; |
| 395 | hbuss | 89 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| 693 | hbuss | 90 | long ErsatzKompass; |
| 91 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 92 | int GierGyroFehler = 0; |
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| 1211 | hbuss | 93 | char GyroFaktor,GyroFaktorGier; |
| 94 | char IntegralFaktor,IntegralFaktorGier; |
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| 1153 | hbuss | 95 | int DiffNick,DiffRoll; |
| 1916 | holgerb | 96 | int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
| 1943 | holgerb | 97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| 1377 | hbuss | 98 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| 1391 | killagreg | 99 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
| 1 | ingob | 100 | volatile unsigned char SenderOkay = 0; |
| 1698 | holgerb | 101 | char MotorenEin = 0,StartTrigger = 0; |
| 1246 | killagreg | 102 | long HoehenWert = 0; |
| 103 | long SollHoehe = 0; |
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| 1942 | holgerb | 104 | signed int AltitudeSetpointTrimming = 0; |
| 1855 | holgerb | 105 | long FromNC_AltitudeSetpoint = 0; |
| 106 | unsigned char FromNC_AltitudeSpeed = 0; |
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| 1862 | holgerb | 107 | unsigned char carefree_old = 50; // to make the Beep when switching |
| 1942 | holgerb | 108 | signed char WaypointTrimming = 0; |
| 1840 | holgerb | 109 | int CompassGierSetpoint = 0; |
| 1692 | holgerb | 110 | int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
| 1153 | hbuss | 111 | //float Ki = FAKTOR_I; |
| 1676 | holgerb | 112 | int Ki = 10300 / 33; |
| 2013 | - | 113 | int KiHH = 10300 / 33; // MartinR : für Ki bei HH über Schalter |
| 114 | |||
| 395 | hbuss | 115 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| 116 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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| 1 | ingob | 117 | |
| 118 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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| 1916 | holgerb | 119 | unsigned char Parameter_HoehenSchalter = 251; // Wert : 0-250 |
| 1 | ingob | 120 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| 121 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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| 122 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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| 1283 | hbuss | 123 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
| 1111 | hbuss | 124 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| 173 | holgerb | 125 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| 1 | ingob | 126 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| 1322 | hbuss | 127 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
| 128 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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| 1 | ingob | 129 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| 130 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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| 131 | unsigned char Parameter_UserParam1 = 0; |
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| 132 | unsigned char Parameter_UserParam2 = 0; |
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| 133 | unsigned char Parameter_UserParam3 = 0; |
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| 134 | unsigned char Parameter_UserParam4 = 0; |
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| 499 | hbuss | 135 | unsigned char Parameter_UserParam5 = 0; |
| 136 | unsigned char Parameter_UserParam6 = 0; |
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| 137 | unsigned char Parameter_UserParam7 = 0; |
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| 138 | unsigned char Parameter_UserParam8 = 0; |
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| 1 | ingob | 139 | unsigned char Parameter_ServoNickControl = 100; |
| 1232 | hbuss | 140 | unsigned char Parameter_ServoRollControl = 100; |
| 173 | holgerb | 141 | unsigned char Parameter_LoopGasLimit = 70; |
| 1120 | hbuss | 142 | unsigned char Parameter_AchsKopplung1 = 90; |
| 143 | unsigned char Parameter_AchsKopplung2 = 65; |
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| 144 | unsigned char Parameter_CouplingYawCorrection = 64; |
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| 145 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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| 499 | hbuss | 146 | unsigned char Parameter_DynamicStability = 100; |
| 921 | hbuss | 147 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
| 148 | unsigned char Parameter_J16Timing; // for the J16 Output |
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| 149 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 150 | unsigned char Parameter_J17Timing; // for the J17 Output |
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| 151 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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| 1051 | killagreg | 152 | unsigned char Parameter_NaviGpsGain; |
| 153 | unsigned char Parameter_NaviGpsP; |
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| 154 | unsigned char Parameter_NaviGpsI; |
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| 155 | unsigned char Parameter_NaviGpsD; |
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| 156 | unsigned char Parameter_NaviGpsACC; |
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| 993 | hbuss | 157 | unsigned char Parameter_NaviOperatingRadius; |
| 158 | unsigned char Parameter_NaviWindCorrection; |
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| 159 | unsigned char Parameter_NaviSpeedCompensation; |
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| 921 | hbuss | 160 | unsigned char Parameter_ExternalControl; |
| 1916 | holgerb | 161 | unsigned char Parameter_GlobalConfig; |
| 162 | unsigned char Parameter_ExtraConfig; |
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| 1966 | holgerb | 163 | unsigned char Parameter_MaximumAltitude; |
| 1403 | hbuss | 164 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| 1668 | holgerb | 165 | unsigned char CareFree = 0; |
| 2013 | - | 166 | //const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps // MartinR: so war es |
| 167 | const signed char sintab[62] = { 0, 2, 4, 6, 8, 10, 11, 13, 14, 15, 15, 16, 16, 16, 15, 14, 13, 11, 10, 8, 6, 4, 2, 0, -2, -4, -6, -8, -10, -11, -13, -14, -15, -15, -16, -16, -16, -15, -15, -14, -13, -11, -10, -8, -6, -4, -2, 0, 2, 4, 6, 8, 10, 11, 13, 14, 15, 15, 16, 16, 16}; // 7,5° steps //MartinR |
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| 168 | signed char cosinus, sinus; // MartinR : extern für PAN-Funktion |
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| 1622 | killagreg | 169 | |
| 492 | hbuss | 170 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| 2013 | - | 171 | //int MaxStickNick = 0,MaxStickRoll = 0; MartinR: so war es |
| 172 | int MaxStickNick = 0,MaxStickRoll = 0,stick_nick_neutral = 0,stick_roll_neutral = 0; // MartinR: stick_.._neutral hinzugefügt |
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| 173 | |||
| 871 | hbuss | 174 | unsigned int modell_fliegt = 0; |
| 1861 | holgerb | 175 | volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
| 1121 | hbuss | 176 | long GIER_GRAD_FAKTOR = 1291; |
| 1153 | hbuss | 177 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| 1209 | hbuss | 178 | signed int tmp_motorwert[MAX_MOTORS]; |
| 1591 | holgerb | 179 | char VarioCharacter = ' '; |
| 180 | |||
| 1391 | killagreg | 181 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| 182 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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| 183 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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| 1155 | hbuss | 184 | |
| 1622 | killagreg | 185 | |
| 1639 | holgerb | 186 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 187 | // Debugwerte zuordnen |
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| 188 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 189 | void CopyDebugValues(void) |
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| 190 | { |
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| 191 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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| 192 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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| 193 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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| 194 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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| 1660 | holgerb | 195 | DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
| 1639 | holgerb | 196 | DebugOut.Analog[5] = HoehenWert/5; |
| 1703 | holgerb | 197 | DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
| 1639 | holgerb | 198 | DebugOut.Analog[8] = KompassValue; |
| 199 | DebugOut.Analog[9] = UBat; |
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| 200 | DebugOut.Analog[10] = SenderOkay; |
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| 1941 | holgerb | 201 | DebugOut.Analog[11] = ErsatzKompassInGrad; |
| 1702 | holgerb | 202 | DebugOut.Analog[12] = Motor[0].SetPoint; |
| 203 | DebugOut.Analog[13] = Motor[1].SetPoint; |
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| 204 | DebugOut.Analog[14] = Motor[2].SetPoint; |
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| 205 | DebugOut.Analog[15] = Motor[3].SetPoint; |
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| 2013 | - | 206 | |
| 207 | DebugOut.Analog[16] = cosinus; // MartinR: test |
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| 208 | DebugOut.Analog[17] = sinus; // MartinR: test |
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| 209 | DebugOut.Analog[18] = ServoPanValue; // MartinR: test |
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| 210 | DebugOut.Analog[19] = ServoRollValue; // MartinR: test |
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| 1639 | holgerb | 211 | DebugOut.Analog[20] = ServoNickValue; |
| 212 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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| 213 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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| 1879 | holgerb | 214 | DebugOut.Analog[24] = SollHoehe/5; |
| 1639 | holgerb | 215 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
| 1682 | holgerb | 216 | // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| 1839 | holgerb | 217 | DebugOut.Analog[27] = KompassSollWert; |
| 1682 | holgerb | 218 | DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
| 1639 | holgerb | 219 | DebugOut.Analog[30] = GPS_Nick; |
| 220 | DebugOut.Analog[31] = GPS_Roll; |
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| 1702 | holgerb | 221 | if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
| 1639 | holgerb | 222 | } |
| 223 | |||
| 1760 | holgerb | 224 | |
| 225 | |||
| 1232 | hbuss | 226 | void Piep(unsigned char Anzahl, unsigned int dauer) |
| 1 | ingob | 227 | { |
| 1232 | hbuss | 228 | if(MotorenEin) return; //auf keinen Fall im Flug! |
| 1966 | holgerb | 229 | GRN_OFF; |
| 1 | ingob | 230 | while(Anzahl--) |
| 231 | { |
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| 1232 | hbuss | 232 | beeptime = dauer; |
| 233 | while(beeptime); |
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| 234 | Delay_ms(dauer * 2); |
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| 1 | ingob | 235 | } |
| 1966 | holgerb | 236 | GRN_ON; |
| 1 | ingob | 237 | } |
| 238 | |||
| 239 | //############################################################################ |
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| 1622 | killagreg | 240 | // Messwerte beim Ermitteln der Nullage |
| 241 | void CalibrierMittelwert(void) |
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| 242 | //############################################################################ |
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| 243 | { |
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| 244 | unsigned char i; |
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| 245 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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| 246 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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| 247 | ANALOG_OFF; |
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| 248 | MesswertNick = AdWertNick; |
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| 249 | MesswertRoll = AdWertRoll; |
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| 250 | MesswertGier = AdWertGier; |
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| 1703 | holgerb | 251 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| 252 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
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| 1622 | killagreg | 253 | // ADC einschalten |
| 254 | ANALOG_ON; |
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| 255 | for(i=0;i<8;i++) |
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| 256 | { |
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| 257 | int tmp; |
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| 1876 | holgerb | 258 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
| 1622 | killagreg | 259 | LIMIT_MIN_MAX(tmp, 0, 255); |
| 260 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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| 261 | } |
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| 262 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 263 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 264 | } |
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| 265 | |||
| 266 | //############################################################################ |
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| 1 | ingob | 267 | // Nullwerte ermitteln |
| 1622 | killagreg | 268 | void SetNeutral(unsigned char AccAdjustment) |
| 1 | ingob | 269 | //############################################################################ |
| 270 | { |
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| 1622 | killagreg | 271 | unsigned char i; |
| 272 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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| 1702 | holgerb | 273 | VersionInfo.HardwareError[0] = 0; |
| 1320 | hbuss | 274 | HEF4017R_ON; |
| 1051 | killagreg | 275 | NeutralAccX = 0; |
| 1 | ingob | 276 | NeutralAccY = 0; |
| 277 | NeutralAccZ = 0; |
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| 1622 | killagreg | 278 | |
| 1051 | killagreg | 279 | AdNeutralNick = 0; |
| 280 | AdNeutralRoll = 0; |
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| 1 | ingob | 281 | AdNeutralGier = 0; |
| 1622 | killagreg | 282 | |
| 395 | hbuss | 283 | Parameter_AchsKopplung1 = 0; |
| 1120 | hbuss | 284 | Parameter_AchsKopplung2 = 0; |
| 1622 | killagreg | 285 | |
| 1036 | hbuss | 286 | ExpandBaro = 0; |
| 1622 | killagreg | 287 | |
| 1051 | killagreg | 288 | CalibrierMittelwert(); |
| 395 | hbuss | 289 | Delay_ms_Mess(100); |
| 1622 | killagreg | 290 | |
| 1 | ingob | 291 | CalibrierMittelwert(); |
| 1622 | killagreg | 292 | |
| 1 | ingob | 293 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 1051 | killagreg | 294 | { |
| 1 | ingob | 295 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 296 | } |
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| 1166 | hbuss | 297 | #define NEUTRAL_FILTER 32 |
| 298 | for(i=0; i<NEUTRAL_FILTER; i++) |
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| 1111 | hbuss | 299 | { |
| 300 | Delay_ms_Mess(10); |
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| 1216 | killagreg | 301 | gier_neutral += AdWertGier; |
| 1166 | hbuss | 302 | nick_neutral += AdWertNick; |
| 303 | roll_neutral += AdWertRoll; |
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| 1111 | hbuss | 304 | } |
| 1173 | hbuss | 305 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| 306 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 307 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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| 1622 | killagreg | 308 | |
| 401 | hbuss | 309 | StartNeutralRoll = AdNeutralRoll; |
| 310 | StartNeutralNick = AdNeutralNick; |
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| 1622 | killagreg | 311 | |
| 312 | if(AccAdjustment) |
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| 313 | { |
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| 314 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 315 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 316 | NeutralAccZ = Aktuell_az; |
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| 317 | |||
| 318 | // Save ACC neutral settings to eeprom |
||
| 1639 | holgerb | 319 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
| 320 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
||
| 1622 | killagreg | 321 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
| 513 | hbuss | 322 | } |
| 1051 | killagreg | 323 | else |
| 513 | hbuss | 324 | { |
| 1622 | killagreg | 325 | // restore from eeprom |
| 326 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
||
| 327 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
||
| 328 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
||
| 329 | // strange settings? |
||
| 1638 | holgerb | 330 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
| 1622 | killagreg | 331 | { |
| 332 | printf("\n\rACC not calibrated!\r\n"); |
||
| 333 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
||
| 334 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
||
| 335 | NeutralAccZ = Aktuell_az; |
||
| 336 | } |
||
| 513 | hbuss | 337 | } |
| 1051 | killagreg | 338 | |
| 1 | ingob | 339 | MesswertNick = 0; |
| 340 | MesswertRoll = 0; |
||
| 341 | MesswertGier = 0; |
||
| 1111 | hbuss | 342 | Delay_ms_Mess(100); |
| 1703 | holgerb | 343 | Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| 344 | Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
||
| 1173 | hbuss | 345 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 346 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 347 | Mess_IntegralNick2 = IntegralNick; |
||
| 348 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 349 | Mess_Integral_Gier = 0; |
||
| 1 | ingob | 350 | StartLuftdruck = Luftdruck; |
| 1253 | killagreg | 351 | VarioMeter = 0; |
| 1 | ingob | 352 | Mess_Integral_Hoch = 0; |
| 1837 | holgerb | 353 | KompassSollWert = KompassValue; |
| 1839 | holgerb | 354 | KompassSignalSchlecht = 100; |
| 1051 | killagreg | 355 | beeptime = 50; |
| 882 | hbuss | 356 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| 357 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
| 492 | hbuss | 358 | ExternHoehenValue = 0; |
| 693 | hbuss | 359 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 360 | GierGyroFehler = 0; |
||
| 723 | hbuss | 361 | SendVersionToNavi = 1; |
| 921 | hbuss | 362 | LED_Init(); |
| 1765 | killagreg | 363 | FC_StatusFlags |= FC_STATUS_CALIBRATE; |
| 992 | hbuss | 364 | FromNaviCtrl_Value.Kalman_K = -1; |
| 1173 | hbuss | 365 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| 992 | hbuss | 366 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| 1391 | killagreg | 367 | for(i=0;i<8;i++) |
| 1377 | hbuss | 368 | { |
| 1876 | holgerb | 369 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127; |
| 1377 | hbuss | 370 | } |
| 1171 | hbuss | 371 | SenderOkay = 100; |
| 1320 | hbuss | 372 | if(ServoActive) |
| 373 | { |
||
| 374 | HEF4017R_ON; |
||
| 375 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 376 | } |
||
| 1702 | holgerb | 377 | |
| 1765 | killagreg | 378 | if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
| 379 | if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
||
| 380 | if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
||
| 381 | if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
||
| 382 | if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
||
| 383 | if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
||
| 1862 | holgerb | 384 | carefree_old = 70; |
| 1925 | holgerb | 385 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| 1921 | holgerb | 386 | LIBFC_HoTT_Clear(); |
| 1925 | holgerb | 387 | #endif |
| 1 | ingob | 388 | } |
| 389 | |||
| 1702 | holgerb | 390 | |
| 1 | ingob | 391 | //############################################################################ |
| 395 | hbuss | 392 | // Bearbeitet die Messwerte |
| 1 | ingob | 393 | void Mittelwert(void) |
| 394 | //############################################################################ |
||
| 1051 | killagreg | 395 | { |
| 1111 | hbuss | 396 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| 397 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
| 1153 | hbuss | 398 | signed long winkel_nick, winkel_roll; |
| 1111 | hbuss | 399 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| 2013 | - | 400 | //MesswertNick = (signed int) AdWertNickFilter / 8; // MartinR: so war es |
| 401 | //MesswertRoll = (signed int) AdWertRollFilter / 8; // MartinR: so war es |
||
| 402 | MesswertNick = (signed int) AdWertNickFilter ; // MartinR die Division /8 erfolgt bereits in der analog.c |
||
| 403 | MesswertRoll = (signed int) AdWertRollFilter ; // MartinR die Division /8 erfolgt bereits in der analog.c |
||
| 1153 | hbuss | 404 | RohMesswertNick = MesswertNick; |
| 405 | RohMesswertRoll = MesswertRoll; |
||
| 1166 | hbuss | 406 | |
| 395 | hbuss | 407 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1703 | holgerb | 408 | Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
| 409 | Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
||
| 395 | hbuss | 410 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| 411 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
| 805 | hbuss | 412 | NaviAccNick += AdWertAccNick; |
| 413 | NaviAccRoll += AdWertAccRoll; |
||
| 414 | NaviCntAcc++; |
||
| 1153 | hbuss | 415 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
| 416 | |||
| 1155 | hbuss | 417 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
| 418 | // ADC einschalten |
||
| 1171 | hbuss | 419 | ANALOG_ON; |
| 1155 | hbuss | 420 | AdReady = 0; |
| 421 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 422 | |||
| 1216 | killagreg | 423 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| 424 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
| 1153 | hbuss | 425 | else winkel_roll = Mess_IntegralRoll; |
| 426 | |||
| 1216 | killagreg | 427 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| 428 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
| 1153 | hbuss | 429 | else winkel_nick = Mess_IntegralNick; |
| 430 | |||
| 1120 | hbuss | 431 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1153 | hbuss | 432 | Mess_Integral_Gier += MesswertGier; |
| 433 | ErsatzKompass += MesswertGier; |
||
| 395 | hbuss | 434 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| 1916 | holgerb | 435 | if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
| 395 | hbuss | 436 | { |
| 1153 | hbuss | 437 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| 1120 | hbuss | 438 | tmpl3 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 439 | tmpl3 /= 4096L; |
| 1153 | hbuss | 440 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| 1216 | killagreg | 441 | tmpl4 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 442 | tmpl4 /= 4096L; |
| 1153 | hbuss | 443 | KopplungsteilNickRoll = tmpl3; |
| 444 | KopplungsteilRollNick = tmpl4; |
||
| 1111 | hbuss | 445 | tmpl4 -= tmpl3; |
| 2013 | - | 446 | if(IntegralFaktor) // MartinR: nur im ACC-Mode |
| 447 | { |
||
| 1111 | hbuss | 448 | ErsatzKompass += tmpl4; |
| 1166 | hbuss | 449 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| 2013 | - | 450 | } |
| 1153 | hbuss | 451 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| 1111 | hbuss | 452 | tmpl *= Parameter_AchsKopplung1; // 90 |
| 880 | hbuss | 453 | tmpl /= 4096L; |
| 1153 | hbuss | 454 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| 395 | hbuss | 455 | tmpl2 *= Parameter_AchsKopplung1; |
| 1662 | killagreg | 456 | tmpl2 /= 4096L; |
| 1225 | hbuss | 457 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| 1153 | hbuss | 458 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| 395 | hbuss | 459 | } |
| 1166 | hbuss | 460 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| 1658 | holgerb | 461 | TrimRoll = tmpl - tmpl2 / 100L; |
| 462 | TrimNick = -tmpl2 + tmpl / 100L; |
||
| 1111 | hbuss | 463 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 464 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
| 465 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
| 395 | hbuss | 466 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 467 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| 468 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
| 1051 | killagreg | 469 | if(Mess_IntegralRoll > Umschlag180Roll) |
| 395 | hbuss | 470 | { |
| 882 | hbuss | 471 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| 395 | hbuss | 472 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 473 | } |
| 395 | hbuss | 474 | if(Mess_IntegralRoll <-Umschlag180Roll) |
| 475 | { |
||
| 882 | hbuss | 476 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| 395 | hbuss | 477 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 478 | } |
| 395 | hbuss | 479 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 480 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
| 481 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
| 1051 | killagreg | 482 | if(Mess_IntegralNick > Umschlag180Nick) |
| 882 | hbuss | 483 | { |
| 484 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
| 485 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 1051 | killagreg | 486 | } |
| 487 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
| 395 | hbuss | 488 | { |
| 882 | hbuss | 489 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| 395 | hbuss | 490 | Mess_IntegralNick2 = Mess_IntegralNick; |
| 1051 | killagreg | 491 | } |
| 1111 | hbuss | 492 | |
| 1 | ingob | 493 | Integral_Gier = Mess_Integral_Gier; |
| 494 | IntegralNick = Mess_IntegralNick; |
||
| 495 | IntegralRoll = Mess_IntegralRoll; |
||
| 1051 | killagreg | 496 | IntegralNick2 = Mess_IntegralNick2; |
| 1 | ingob | 497 | IntegralRoll2 = Mess_IntegralRoll2; |
| 498 | |||
| 2013 | - | 499 | //#define D_LIMIT 128 // MartinR: so war es |
| 500 | #define D_LIMIT 16 |
||
| 501 | // MartinR: Änderung war notwendig, da die Division /8 bereits in der analog.c erfolgt |
||
| 1166 | hbuss | 502 | |
| 2013 | - | 503 | //MesswertNick = HiResNick / 8; // MartinR : so war es |
| 504 | // MesswertRoll = HiResRoll / 8; // MartinR : so war es |
||
| 505 | MesswertNick = HiResNick ; // MartinR die Division /8 erfolgt bereits in der analog.c |
||
| 506 | MesswertRoll = HiResRoll ; // MartinR die Division /8 erfolgt bereits in der analog.c |
||
| 1166 | hbuss | 507 | |
| 2013 | - | 508 | // MartinR : so war es Anfang |
| 509 | /* |
||
| 510 | |||
| 1167 | hbuss | 511 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| 512 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
| 513 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
| 514 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
| 515 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
| 516 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
| 2013 | - | 517 | |
| 518 | // MartinR : FC 1.0: Sprung von 500 auf 2000 !! FC-ME: Sprung von 1000 auf 2000 |
||
| 519 | */ |
||
| 520 | // MartinR : so war es Ende |
||
| 521 | |||
| 522 | // MartinR : Neu Anfang |
||
| 523 | if(PlatinenVersion == 10) |
||
| 524 | { |
||
| 525 | if(AdWertNick > 1010) MesswertNick = +600; |
||
| 526 | if(AdWertNick > 1017) MesswertNick = +800; |
||
| 527 | if(AdWertNick < 15) MesswertNick = -600; |
||
| 528 | if(AdWertNick < 7) MesswertNick = -800; |
||
| 529 | if(AdWertRoll > 1010) MesswertRoll = +600; |
||
| 530 | if(AdWertRoll > 1017) MesswertRoll = +800; |
||
| 531 | if(AdWertRoll < 15) MesswertRoll = -600; |
||
| 532 | if(AdWertRoll < 7) MesswertRoll = -800; |
||
| 533 | } |
||
| 534 | else |
||
| 535 | { |
||
| 536 | if(AdWertNick > 2000) MesswertNick = +1200; |
||
| 537 | if(AdWertNick > 2015) MesswertNick = +1600; |
||
| 538 | if(AdWertNick < 15) MesswertNick = -1200; |
||
| 539 | if(AdWertNick < 7) MesswertNick = -1600; |
||
| 540 | if(AdWertRoll > 2000) MesswertRoll = +1200; |
||
| 541 | if(AdWertRoll > 2015) MesswertRoll = +1600; |
||
| 542 | if(AdWertRoll < 15) MesswertRoll = -1200; |
||
| 543 | if(AdWertRoll < 7) MesswertRoll = -1600; |
||
| 544 | } |
||
| 545 | // MartinR : Neu Ende |
||
| 1167 | hbuss | 546 | |
| 1216 | killagreg | 547 | if(Parameter_Gyro_D) |
| 2013 | - | 548 | // MartinR: hier sind Änderungen erforderlich, da u.a. MesswertNick = HiResNick / 8 von der fc.c in die analog.c verschoben wurde |
| 549 | // Hintergrund: Code einsparen |
||
| 1111 | hbuss | 550 | { |
| 1166 | hbuss | 551 | d2Nick = HiResNick - oldNick; |
| 552 | oldNick = (oldNick + HiResNick)/2; |
||
| 1111 | hbuss | 553 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| 554 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
| 1791 | holgerb | 555 | |
| 1166 | hbuss | 556 | d2Roll = HiResRoll - oldRoll; |
| 557 | oldRoll = (oldRoll + HiResRoll)/2; |
||
| 1111 | hbuss | 558 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| 559 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
| 2013 | - | 560 | |
| 561 | //MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; // MartinR : so war es |
||
| 562 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 2; // MartinR : geändert |
||
| 563 | //MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; // MartinR : so war es |
||
| 564 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 2; // MartinR : geändert |
||
| 565 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D * 8); // martinR: *8 hinzugefügt |
||
| 566 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D * 8); // martinR: *8 hinzugefügt |
||
| 1216 | killagreg | 567 | } |
| 1111 | hbuss | 568 | |
| 1166 | hbuss | 569 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| 570 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 571 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 572 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 1153 | hbuss | 573 | |
| 1916 | holgerb | 574 | if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
| 1153 | hbuss | 575 | { |
| 576 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
| 577 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
| 578 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
| 579 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
| 580 | } |
||
| 1 | ingob | 581 | } |
| 582 | |||
| 583 | //############################################################################ |
||
| 584 | // Senden der Motorwerte per I2C-Bus |
||
| 585 | void SendMotorData(void) |
||
| 586 | //############################################################################ |
||
| 1051 | killagreg | 587 | { |
| 1209 | hbuss | 588 | unsigned char i; |
| 921 | hbuss | 589 | if(!MotorenEin) |
| 1 | ingob | 590 | { |
| 1765 | killagreg | 591 | FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
| 1216 | killagreg | 592 | for(i=0;i<MAX_MOTORS;i++) |
| 593 | { |
||
| 594 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
| 1638 | holgerb | 595 | Motor[i].SetPoint = MotorTest[i]; |
| 596 | Motor[i].SetPointLowerBits = 0; |
||
| 597 | /* |
||
| 1760 | holgerb | 598 | Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
| 599 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
| 1638 | holgerb | 600 | */ |
| 1216 | killagreg | 601 | } |
| 1212 | hbuss | 602 | if(PC_MotortestActive) PC_MotortestActive--; |
| 1216 | killagreg | 603 | } |
| 1765 | killagreg | 604 | else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
| 1744 | holgerb | 605 | |
| 1765 | killagreg | 606 | if(I2C_TransferActive) |
| 1744 | holgerb | 607 | { |
| 1760 | holgerb | 608 | I2C_TransferActive = 0; // enable for the next time |
| 1765 | killagreg | 609 | } |
| 610 | else |
||
| 1744 | holgerb | 611 | { |
| 612 | motor_write = 0; |
||
| 1760 | holgerb | 613 | I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
| 1765 | killagreg | 614 | } |
| 1 | ingob | 615 | } |
| 616 | |||
| 617 | |||
| 618 | |||
| 619 | //############################################################################ |
||
| 620 | // Trägt ggf. das Poti als Parameter ein |
||
| 1051 | killagreg | 621 | void ParameterZuordnung(void) |
| 1 | ingob | 622 | //############################################################################ |
| 623 | { |
||
| 1787 | holgerb | 624 | unsigned char tmp,i; |
| 625 | for(i=0;i<8;i++) |
||
| 626 | { |
||
| 627 | int tmp2; |
||
| 1933 | holgerb | 628 | tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
| 629 | tmp2 = PPM_in[tmp] + 127; |
||
| 1787 | holgerb | 630 | if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
| 1933 | holgerb | 631 | |
| 632 | if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter |
||
| 633 | else |
||
| 1787 | holgerb | 634 | if(tmp2 != Poti[i]) |
| 635 | { |
||
| 636 | Poti[i] += (tmp2 - Poti[i]) / 4; |
||
| 637 | if(Poti[i] > tmp2) Poti[i]--; |
||
| 638 | else Poti[i]++; |
||
| 639 | } |
||
| 640 | } |
||
| 921 | hbuss | 641 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| 642 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 643 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
| 1933 | holgerb | 644 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
| 645 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
||
| 1403 | hbuss | 646 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
| 647 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
| 648 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
| 1916 | holgerb | 649 | CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
| 1377 | hbuss | 650 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
| 651 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
| 652 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
| 653 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
| 654 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
| 655 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
| 656 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
| 657 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
| 658 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
| 659 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
| 660 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
| 661 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
| 662 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
| 663 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
| 664 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
| 665 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
| 666 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
| 667 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
| 668 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
| 1668 | holgerb | 669 | CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
| 670 | CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
||
| 1377 | hbuss | 671 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
| 1936 | holgerb | 672 | CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
| 1916 | holgerb | 673 | Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
| 674 | Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
||
| 1377 | hbuss | 675 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
| 676 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
| 677 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
| 1676 | holgerb | 678 | Ki = 10300 / (Parameter_I_Faktor + 1); |
| 2013 | - | 679 | |
| 680 | |||
| 681 | if(Parameter_UserParam1 > 50) KiHH = 10300 / (Parameter_UserParam2 + 1); else KiHH = Ki; // MartinR : für HH über Schalter |
||
| 682 | Parameter_NaviGpsModeControl = EE_Parameter.NaviGpsModeControl; //MartinR: Standard: EE_Parameter.NaviGpsModeControl wird übertragen |
||
| 683 | if(!IntegralFaktor) Parameter_NaviGpsModeControl= 0; // MartinR: wenn HH dann GPS auf free- Mode |
||
| 684 | // 0 = free; 100 = AID; 200 = coming home //neu |
||
| 685 | |||
| 686 | |||
| 1 | ingob | 687 | MAX_GAS = EE_Parameter.Gas_Max; |
| 1662 | killagreg | 688 | MIN_GAS = EE_Parameter.Gas_Min; |
| 1668 | holgerb | 689 | |
| 1921 | holgerb | 690 | tmp = EE_Parameter.CareFreeModeControl; |
| 1690 | holgerb | 691 | if(tmp > 50) |
| 1668 | holgerb | 692 | { |
| 1682 | holgerb | 693 | CareFree = 1; |
| 1839 | holgerb | 694 | if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
| 1862 | holgerb | 695 | if(carefree_old != CareFree) |
| 696 | { |
||
| 697 | if(carefree_old < 3) |
||
| 698 | { |
||
| 699 | if(CareFree) beeptime = 1500; |
||
| 700 | else beeptime = 200; |
||
| 701 | carefree_old = CareFree; |
||
| 702 | } else carefree_old--; |
||
| 703 | } |
||
| 1937 | holgerb | 704 | if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
| 1669 | killagreg | 705 | } |
| 1839 | holgerb | 706 | else |
| 707 | { |
||
| 708 | CareFree = 0; |
||
| 1862 | holgerb | 709 | carefree_old = 10; |
| 1839 | holgerb | 710 | } |
| 1668 | holgerb | 711 | |
| 1691 | holgerb | 712 | if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
| 1690 | holgerb | 713 | { |
| 714 | beeptime = 15000; |
||
| 715 | BeepMuster = 0xA400; |
||
| 716 | CareFree = 0; |
||
| 1765 | killagreg | 717 | } |
| 1861 | holgerb | 718 | if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
| 1 | ingob | 719 | } |
| 720 | |||
| 721 | //############################################################################ |
||
| 722 | // |
||
| 723 | void MotorRegler(void) |
||
| 724 | //############################################################################ |
||
| 725 | { |
||
| 1330 | killagreg | 726 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
| 1 | ingob | 727 | int GierMischanteil,GasMischanteil; |
| 2013 | - | 728 | |
| 729 | static long SummeNickHH=0,SummeRollHH=0; // MartinR: hinzugefügt |
||
| 730 | |||
| 1 | ingob | 731 | static long sollGier = 0,tmp_long,tmp_long2; |
| 395 | hbuss | 732 | static long IntegralFehlerNick = 0; |
| 733 | static long IntegralFehlerRoll = 0; |
||
| 1 | ingob | 734 | static unsigned int RcLostTimer; |
| 735 | static unsigned char delay_neutral = 0; |
||
| 736 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 1622 | killagreg | 737 | static unsigned char calibration_done = 0; |
| 1 | ingob | 738 | static char NeueKompassRichtungMerken = 0; |
| 395 | hbuss | 739 | static long ausgleichNick, ausgleichRoll; |
| 1153 | hbuss | 740 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 1209 | hbuss | 741 | unsigned char i; |
| 1051 | killagreg | 742 | Mittelwert(); |
| 743 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 744 | // Gaswert ermitteln |
| 1051 | killagreg | 745 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 746 | GasMischanteil = StickGas; |
||
| 831 | hbuss | 747 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| 1330 | killagreg | 748 | |
| 1051 | killagreg | 749 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 750 | // Empfang schlecht |
| 1051 | killagreg | 751 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1916 | holgerb | 752 | if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
| 1 | ingob | 753 | { |
| 1051 | killagreg | 754 | if(RcLostTimer) RcLostTimer--; |
| 755 | else |
||
| 1 | ingob | 756 | { |
| 757 | MotorenEin = 0; |
||
| 1954 | holgerb | 758 | modell_fliegt = 0; |
| 759 | FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
||
| 1051 | killagreg | 760 | } |
| 1 | ingob | 761 | ROT_ON; |
| 693 | hbuss | 762 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| 1 | ingob | 763 | { |
| 764 | GasMischanteil = EE_Parameter.NotGas; |
||
| 1765 | killagreg | 765 | FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
| 744 | hbuss | 766 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 1051 | killagreg | 767 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 1 | ingob | 768 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 769 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 770 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 173 | holgerb | 771 | } |
| 1954 | holgerb | 772 | else |
| 773 | { |
||
| 774 | MotorenEin = 0; |
||
| 775 | } |
||
| 1 | ingob | 776 | } |
| 1051 | killagreg | 777 | else |
| 778 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 779 | // Emfang gut |
| 1051 | killagreg | 780 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 781 | if(SenderOkay > 140) |
| 782 | { |
||
| 1765 | killagreg | 783 | FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
| 1 | ingob | 784 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| 921 | hbuss | 785 | if(GasMischanteil > 40 && MotorenEin) |
| 1 | ingob | 786 | { |
| 787 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 788 | } |
||
| 871 | hbuss | 789 | if((modell_fliegt < 256)) |
| 1 | ingob | 790 | { |
| 791 | SummeNick = 0; |
||
| 792 | SummeRoll = 0; |
||
| 1682 | holgerb | 793 | sollGier = 0; |
| 794 | Mess_Integral_Gier = 0; |
||
| 1765 | killagreg | 795 | } else FC_StatusFlags |= FC_STATUS_FLY; |
| 1051 | killagreg | 796 | |
| 595 | hbuss | 797 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| 1 | ingob | 798 | { |
| 1051 | killagreg | 799 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 800 | // auf Nullwerte kalibrieren |
| 1051 | killagreg | 801 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 802 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| 803 | { |
||
| 804 | if(++delay_neutral > 200) // nicht sofort |
||
| 805 | { |
||
| 806 | MotorenEin = 0; |
||
| 807 | delay_neutral = 0; |
||
| 808 | modell_fliegt = 0; |
||
| 809 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
| 810 | { |
||
| 304 | ingob | 811 | unsigned char setting=1; |
| 1 | ingob | 812 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| 813 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 814 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 815 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 816 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 1622 | killagreg | 817 | SetActiveParamSet(setting); // aktiven Datensatz merken |
| 1 | ingob | 818 | } |
| 1051 | killagreg | 819 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| 820 | { |
||
| 819 | hbuss | 821 | WinkelOut.CalcState = 1; |
| 822 | beeptime = 1000; |
||
| 823 | } |
||
| 824 | else |
||
| 1 | ingob | 825 | { |
| 1622 | killagreg | 826 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| 1413 | killagreg | 827 | LipoDetection(0); |
| 1626 | killagreg | 828 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 1916 | holgerb | 829 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 819 | hbuss | 830 | { |
| 1 | ingob | 831 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 1051 | killagreg | 832 | } |
| 1330 | killagreg | 833 | ServoActive = 0; |
| 1622 | killagreg | 834 | SetNeutral(0); |
| 1765 | killagreg | 835 | calibration_done = 1; |
| 1232 | hbuss | 836 | ServoActive = 1; |
| 837 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 1622 | killagreg | 838 | Piep(GetActiveParamSet(),120); |
| 2013 | - | 839 | PPM_in[13] = Parameter_UserParam5 -110; // MartinR: Initialisierungswerte für die seriellen Potis für Jeti+ |
| 840 | PPM_in[14] = Parameter_UserParam6 -110; // MartinR: Initialisierungswerte für die seriellen Potis für Jeti+ |
||
| 819 | hbuss | 841 | } |
| 1051 | killagreg | 842 | } |
| 1 | ingob | 843 | } |
| 1051 | killagreg | 844 | else |
| 513 | hbuss | 845 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| 846 | { |
||
| 847 | if(++delay_neutral > 200) // nicht sofort |
||
| 848 | { |
||
| 849 | MotorenEin = 0; |
||
| 850 | delay_neutral = 0; |
||
| 851 | modell_fliegt = 0; |
||
| 1622 | killagreg | 852 | SetNeutral(1); |
| 853 | calibration_done = 1; |
||
| 854 | Piep(GetActiveParamSet(),120); |
||
| 1051 | killagreg | 855 | } |
| 513 | hbuss | 856 | } |
| 1 | ingob | 857 | else delay_neutral = 0; |
| 858 | } |
||
| 1051 | killagreg | 859 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 860 | // Gas ist unten |
| 1051 | killagreg | 861 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1760 | holgerb | 862 | |
| 595 | hbuss | 863 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| 1 | ingob | 864 | { |
| 1521 | killagreg | 865 | // Motoren Starten |
| 866 | if(!MotorenEin) |
||
| 867 | { |
||
| 1760 | holgerb | 868 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
| 1521 | killagreg | 869 | { |
| 1051 | killagreg | 870 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 871 | // Einschalten |
| 1051 | killagreg | 872 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 873 | if(++delay_einschalten > 200) |
| 874 | { |
||
| 875 | delay_einschalten = 0; |
||
| 1834 | holgerb | 876 | if(!VersionInfo.HardwareError[0] && calibration_done && !NC_ErrorCode) |
| 1622 | killagreg | 877 | { |
| 878 | modell_fliegt = 1; |
||
| 879 | MotorenEin = 1; |
||
| 880 | sollGier = 0; |
||
| 881 | Mess_Integral_Gier = 0; |
||
| 882 | Mess_Integral_Gier2 = 0; |
||
| 883 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
| 884 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 885 | Mess_IntegralNick2 = IntegralNick; |
||
| 886 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 887 | SummeNick = 0; |
||
| 888 | SummeRoll = 0; |
||
| 1765 | killagreg | 889 | FC_StatusFlags |= FC_STATUS_START; |
| 1913 | holgerb | 890 | // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| 1840 | holgerb | 891 | NeueKompassRichtungMerken = 100; // 2 sekunden |
| 1622 | killagreg | 892 | } |
| 893 | else |
||
| 894 | { |
||
| 895 | beeptime = 1500; // indicate missing calibration |
||
| 896 | } |
||
| 1521 | killagreg | 897 | } |
| 898 | } |
||
| 899 | else delay_einschalten = 0; |
||
| 900 | } |
||
| 1051 | killagreg | 901 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 902 | // Auschalten |
| 1051 | killagreg | 903 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 904 | else // only if motors are running |
| 905 | { |
||
| 1760 | holgerb | 906 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
| 1521 | killagreg | 907 | { |
| 908 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 909 | { |
||
| 910 | MotorenEin = 0; |
||
| 911 | delay_ausschalten = 0; |
||
| 912 | modell_fliegt = 0; |
||
| 913 | } |
||
| 914 | } |
||
| 915 | else delay_ausschalten = 0; |
||
| 916 | } |
||
| 1 | ingob | 917 | } |
| 918 | } |
||
| 1051 | killagreg | 919 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 920 | // neue Werte von der Funke |
| 1051 | killagreg | 921 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 922 | |
| 1765 | killagreg | 923 | if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| 1 | ingob | 924 | { |
| 604 | hbuss | 925 | static int stick_nick,stick_roll; |
| 1912 | holgerb | 926 | unsigned char stick_p; |
| 1 | ingob | 927 | ParameterZuordnung(); |
| 1912 | holgerb | 928 | stick_p = EE_Parameter.Stick_P; |
| 2013 | - | 929 | // MartinR: original: |
| 930 | /* |
||
| 1912 | holgerb | 931 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
| 723 | hbuss | 932 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| 1912 | holgerb | 933 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
| 723 | hbuss | 934 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| 2013 | - | 935 | */ |
| 936 | // MartinR: geändert Anfang |
||
| 937 | if(Parameter_UserParam1 > 50) // MartinR: zweiter Stick_P Wert nur, wenn HH über Schalter aktiv ist |
||
| 938 | { |
||
| 939 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * Parameter_UserParam3 - stick_nick_neutral) / 4; |
||
| 940 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * Parameter_UserParam3 - stick_roll_neutral) / 4 ; |
||
| 941 | //stick_nick = (PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * Parameter_UserParam3 - stick_nick_neutral); |
||
| 942 | //stick_roll = (PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * Parameter_UserParam3 - stick_roll_neutral); |
||
| 943 | } |
||
| 944 | |||
| 945 | else |
||
| 946 | { |
||
| 947 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4; |
||
| 948 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4; |
||
| 949 | stick_nick_neutral = stick_nick; // beim Umschalten auf HH wird derletzte Stickwert als Neutralposition verwendet, MartinR |
||
| 950 | stick_roll_neutral = stick_roll; // beim Umschalten auf HH wird derletzte Stickwert als Neutralposition verwendet, MartinR |
||
| 951 | } |
||
| 952 | |||
| 953 | if(IntegralFaktor) |
||
| 954 | { |
||
| 955 | //stick_nick_neutral = stick_nick; // beim Umschalten auf HH wird derletzte Stickwert als Neutralposition verwendet, MartinR |
||
| 956 | //stick_roll_neutral = stick_roll; // beim Umschalten auf HH wird derletzte Stickwert als Neutralposition verwendet, MartinR |
||
| 957 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
||
| 958 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
| 959 | |||
| 960 | //StickNick = stick_nick - (GPS_Nick + GPS_Nick2); // MartinR: GPS nur im ACC-Mode wirksam |
||
| 961 | //StickRoll = stick_roll - (GPS_Roll + GPS_Roll2); // MartinR: GPS nur im ACC-Mode wirksam |
||
| 962 | } |
||
| 963 | /*else // wenn HH , MartinR |
||
| 964 | { |
||
| 965 | //stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; // MartinR: eventuell vor if verschieben |
||
| 966 | //stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; // MartinR: eventuell vor if verschieben |
||
| 967 | //StickNick = stick_nick; // MartinR: GPS nur im ACC-Mode wirksam |
||
| 968 | //StickRoll = stick_roll; // MartinR: GPS nur im ACC-Mode wirksam |
||
| 969 | } |
||
| 970 | */ |
||
| 971 | // MartinR: geändert Ende |
||
| 723 | hbuss | 972 | |
| 1707 | holgerb | 973 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 974 | // CareFree und freie Wahl der vorderen Richtung |
||
| 975 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 2013 | - | 976 | //if(CareFree) // MartinR: so war es |
| 977 | if(CareFree && IntegralFaktor) // MartinR: CareFree nur im ACC-Mode |
||
| 1865 | holgerb | 978 | { |
| 979 | signed int nick, roll; |
||
| 980 | nick = stick_nick / 4; |
||
| 981 | roll = stick_roll / 4; |
||
| 982 | StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
||
| 983 | StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
||
| 984 | } |
||
| 985 | else |
||
| 986 | { |
||
| 2013 | - | 987 | //FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; //MartinR: so war es |
| 988 | FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle * 2 + 12]; //MartinR: feinere Auflösung |
||
| 989 | //FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; //MartinR: so war es |
||
| 990 | FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle * 2]; //MartinR: feinere Auflösung |
||
| 1865 | holgerb | 991 | StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
| 992 | StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
||
| 993 | } |
||
| 1662 | killagreg | 994 | |
| 1 | ingob | 995 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 1840 | holgerb | 996 | if(StickGier > 4) StickGier -= 4; else |
| 997 | if(StickGier < -4) StickGier += 4; else StickGier = 0; |
||
| 1120 | hbuss | 998 | |
| 1945 | holgerb | 999 | if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
| 1000 | { |
||
| 1001 | StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
||
| 1002 | StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
||
| 1003 | } |
||
| 1912 | holgerb | 1004 | |
| 1005 | StickNick -= GPS_Nick; |
||
| 1006 | StickRoll -= GPS_Roll; |
||
| 1933 | holgerb | 1007 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127; |
| 1330 | killagreg | 1008 | |
| 1153 | hbuss | 1009 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
| 1010 | IntegralFaktor = Parameter_Gyro_I; |
||
| 1322 | hbuss | 1011 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| 1012 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
| 1 | ingob | 1013 | |
| 595 | hbuss | 1014 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1015 | //+ Analoge Steuerung per Seriell |
||
| 1016 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 2013 | - | 1017 | // MartinR: ToDo: eventuell die Kombination HH und Steuerung per Seriell nicht zulassen?? |
| 921 | hbuss | 1018 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| 595 | hbuss | 1019 | { |
| 1020 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 1021 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 1022 | StickGier += ExternControl.Gier; |
||
| 1023 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 1024 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 1025 | } |
||
| 855 | hbuss | 1026 | if(StickGas < 0) StickGas = 0; |
| 1330 | killagreg | 1027 | |
| 1916 | holgerb | 1028 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 723 | hbuss | 1029 | |
| 1051 | killagreg | 1030 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| 928 | hbuss | 1031 | { |
| 1051 | killagreg | 1032 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
| 928 | hbuss | 1033 | if(MaxStickNick > 100) MaxStickNick = 100; |
| 1051 | killagreg | 1034 | } |
| 928 | hbuss | 1035 | else MaxStickNick--; |
| 1051 | killagreg | 1036 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| 928 | hbuss | 1037 | { |
| 1051 | killagreg | 1038 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| 928 | hbuss | 1039 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
| 1051 | killagreg | 1040 | } |
| 928 | hbuss | 1041 | else MaxStickRoll--; |
| 1765 | killagreg | 1042 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
| 723 | hbuss | 1043 | |
| 1051 | killagreg | 1044 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 1045 | // Looping? |
| 1051 | killagreg | 1046 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 993 | hbuss | 1047 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| 1051 | killagreg | 1048 | else |
| 1049 | { |
||
| 395 | hbuss | 1050 | { |
| 1051 | killagreg | 1051 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| 1052 | } |
||
| 1053 | } |
||
| 993 | hbuss | 1054 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| 1051 | killagreg | 1055 | else |
| 395 | hbuss | 1056 | { |
| 1057 | if(Looping_Rechts) // Hysterese |
||
| 1058 | { |
||
| 1059 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 1060 | } |
||
| 1051 | killagreg | 1061 | } |
| 173 | holgerb | 1062 | |
| 993 | hbuss | 1063 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| 1051 | killagreg | 1064 | else |
| 1065 | { |
||
| 395 | hbuss | 1066 | if(Looping_Oben) // Hysterese |
| 1067 | { |
||
| 1051 | killagreg | 1068 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| 1069 | } |
||
| 1070 | } |
||
| 993 | hbuss | 1071 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| 1051 | killagreg | 1072 | else |
| 395 | hbuss | 1073 | { |
| 1074 | if(Looping_Unten) // Hysterese |
||
| 1075 | { |
||
| 1076 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 1077 | } |
||
| 1051 | killagreg | 1078 | } |
| 395 | hbuss | 1079 | |
| 1080 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 1153 | hbuss | 1081 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| 395 | hbuss | 1082 | } // Ende neue Funken-Werte |
| 1083 | |||
| 1084 | if(Looping_Roll || Looping_Nick) |
||
| 1085 | { |
||
| 173 | holgerb | 1086 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| 1153 | hbuss | 1087 | TrichterFlug = 1; |
| 173 | holgerb | 1088 | } |
| 1089 | |||
| 1051 | killagreg | 1090 | |
| 1091 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1092 | // Bei Empfangsausfall im Flug |
||
| 1093 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1916 | holgerb | 1094 | if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
| 1095 | { |
||
| 1096 | StickNick = -GPS_Nick; |
||
| 1097 | StickRoll = -GPS_Roll; |
||
| 1098 | StickGas = StickGasHover; |
||
| 1099 | Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
||
| 1100 | Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV; |
||
| 1101 | Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
||
| 1102 | Parameter_HoehenSchalter = 200; // switch on |
||
| 1103 | } |
||
| 1104 | else |
||
| 1765 | killagreg | 1105 | if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
| 1 | ingob | 1106 | { |
| 1107 | StickGier = 0; |
||
| 1108 | StickNick = 0; |
||
| 1109 | StickRoll = 0; |
||
| 1211 | hbuss | 1110 | GyroFaktor = 90; |
| 1111 | IntegralFaktor = 120; |
||
| 1112 | GyroFaktorGier = 90; |
||
| 1113 | IntegralFaktorGier = 120; |
||
| 173 | holgerb | 1114 | Looping_Roll = 0; |
| 1115 | Looping_Nick = 0; |
||
| 1051 | killagreg | 1116 | } |
| 395 | hbuss | 1117 | |
| 1118 | |||
| 1051 | killagreg | 1119 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1120 | // Integrale auf ACC-Signal abgleichen |
| 1051 | killagreg | 1121 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1122 | #define ABGLEICH_ANZAHL 256L |
| 1123 | |||
| 1124 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 1125 | MittelIntegralRoll += IntegralRoll; |
||
| 1126 | MittelIntegralNick2 += IntegralNick2; |
||
| 1127 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 1128 | |||
| 2013 | - | 1129 | // if(Looping_Nick || Looping_Roll) // MartinR: so war es |
| 1130 | if(Looping_Nick || Looping_Roll || (!IntegralFaktor & (Parameter_UserParam1 < 50) & !(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD))) // MartinR: erweitert |
||
| 395 | hbuss | 1131 | { |
| 1132 | IntegralAccNick = 0; |
||
| 1133 | IntegralAccRoll = 0; |
||
| 1134 | MittelIntegralNick = 0; |
||
| 1135 | MittelIntegralRoll = 0; |
||
| 1136 | MittelIntegralNick2 = 0; |
||
| 1137 | MittelIntegralRoll2 = 0; |
||
| 1138 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 1139 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 1140 | ZaehlMessungen = 0; |
||
| 498 | hbuss | 1141 | LageKorrekturNick = 0; |
| 1142 | LageKorrekturRoll = 0; |
||
| 395 | hbuss | 1143 | } |
| 2013 | - | 1144 | |
| 1145 | if((!IntegralFaktor && (Parameter_UserParam1 < 50) && !(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD)) ) // MartinR: |
||
| 1146 | // nur im Moment des Umschaltens von HH auf ACC erfolgt ein Reset der Integrale, nicht aber bei normalem HH |
||
| 1147 | // um einen im HH-Mode eventuell schwindelig geflogenen ACC_Mode zu resetten! |
||
| 1148 | // bis zur Umschaltung werden die Integrale für den Kameraausgleich verwendet |
||
| 1149 | { |
||
| 1150 | |||
| 1151 | IntegralNick = 0; // MartinR: Reset der Integratoren beim Zurückschalten vom HH- in den ACC-Mode |
||
| 1152 | IntegralRoll = 0; // MartinR: Reset der Integratoren beim Zurückschalten vom HH- in den ACC-Mode |
||
| 1153 | Mess_IntegralNick = 0; // MartinR: Reset der Integratoren beim Zurückschalten vom HH- in den ACC-Mode |
||
| 1154 | Mess_IntegralRoll = 0; // MartinR: Reset der Integratoren beim Zurückschalten vom HH- in den ACC-Mode |
||
| 1155 | Mess_Integral_Gier = 0; // MartinR: Reset der Integratoren beim Zurückschalten vom HH- in den ACC-Mode |
||
| 1156 | Integral_Gier = 0; // MartinR: Reset der Integratoren beim Zurückschalten vom HH- in den ACC-Mode |
||
| 1157 | //Mess_Integral_Gier2 = 0; // MartinR: Reset der Integratoren beim Zurückschalten vom HH- in den ACC-Mode |
||
| 1158 | } |
||
| 1159 | |||
| 1160 | if((EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) || (Parameter_UserParam1 > 50)) IntegralFaktor = 0; // MartinR geändert und verschoben |
||
| 1161 | else IntegralFaktor = Parameter_Gyro_I; // MartinR: verschoben um Code zu sparen |
||
| 395 | hbuss | 1162 | |
| 1051 | killagreg | 1163 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1224 | hbuss | 1164 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| 469 | hbuss | 1165 | { |
| 1166 | long tmp_long, tmp_long2; |
||
| 1839 | holgerb | 1167 | if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
| 992 | hbuss | 1168 | { |
| 1944 | holgerb | 1169 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
| 1170 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
||
| 1171 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 1172 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 1173 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 1174 | { |
||
| 1175 | tmp_long /= 2; |
||
| 1176 | tmp_long2 /= 2; |
||
| 1177 | } |
||
| 1178 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 1179 | { |
||
| 1180 | tmp_long /= 3; |
||
| 1181 | tmp_long2 /= 3; |
||
| 1182 | } |
||
| 1183 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1184 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1185 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 1186 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 992 | hbuss | 1187 | } |
| 1051 | killagreg | 1188 | else |
| 992 | hbuss | 1189 | { |
| 1944 | holgerb | 1190 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| 1191 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
||
| 1192 | tmp_long /= 16; |
||
| 1193 | tmp_long2 /= 16; |
||
| 1194 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 1195 | { |
||
| 1196 | tmp_long /= 3; |
||
| 1197 | tmp_long2 /= 3; |
||
| 1198 | } |
||
| 1199 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 1200 | { |
||
| 1201 | tmp_long /= 3; |
||
| 1202 | tmp_long2 /= 3; |
||
| 1203 | } |
||
| 1204 | KompassFusion = 25; |
||
| 1155 | hbuss | 1205 | #define AUSGLEICH 32 |
| 1944 | holgerb | 1206 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| 1207 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 1208 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 1209 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 992 | hbuss | 1210 | } |
| 1166 | hbuss | 1211 | |
| 1111 | hbuss | 1212 | Mess_IntegralNick -= tmp_long; |
| 1213 | Mess_IntegralRoll -= tmp_long2; |
||
| 469 | hbuss | 1214 | } |
| 1051 | killagreg | 1215 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1216 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| 1217 | { |
||
| 1218 | static int cnt = 0; |
||
| 1219 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 1220 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 2013 | - | 1221 | //if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) // MartinR: so war es |
| 1222 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp && IntegralFaktor) // MartinR: "&& IntegralFaktor" hinzugefügt |
||
| 1223 | |||
| 173 | holgerb | 1224 | { |
| 395 | hbuss | 1225 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
| 1226 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 1227 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 1228 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 1229 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 1707 | holgerb | 1230 | #define MAX_I 0 |
| 395 | hbuss | 1231 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1232 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 1233 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 1051 | killagreg | 1234 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1235 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 395 | hbuss | 1236 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| 614 | hbuss | 1237 | |
| 1238 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 498 | hbuss | 1239 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1240 | |
| 992 | hbuss | 1241 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| 614 | hbuss | 1242 | { |
| 1243 | LageKorrekturNick /= 2; |
||
| 720 | ingob | 1244 | LageKorrekturRoll /= 2; |
| 614 | hbuss | 1245 | } |
| 498 | hbuss | 1246 | |
| 1051 | killagreg | 1247 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1248 | // Gyro-Drift ermitteln |
| 1051 | killagreg | 1249 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1250 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| 1251 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 1051 | killagreg | 1252 | tmp_long = IntegralNick2 - IntegralNick; |
| 1253 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 395 | hbuss | 1254 | |
| 1255 | IntegralFehlerNick = tmp_long; |
||
| 1256 | IntegralFehlerRoll = tmp_long2; |
||
| 1257 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 1258 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 1259 | |||
| 1111 | hbuss | 1260 | if(EE_Parameter.Driftkomp) |
| 1261 | { |
||
| 1622 | killagreg | 1262 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
| 1263 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
| 1111 | hbuss | 1264 | } |
| 693 | hbuss | 1265 | GierGyroFehler = 0; |
| 720 | ingob | 1266 | |
| 1243 | killagreg | 1267 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| 1268 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
| 1225 | hbuss | 1269 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
| 492 | hbuss | 1270 | #define BEWEGUNGS_LIMIT 20000 |
| 395 | hbuss | 1271 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1272 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1225 | hbuss | 1273 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1274 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1275 | { |
| 1051 | killagreg | 1276 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
| 395 | hbuss | 1277 | { |
| 1051 | killagreg | 1278 | if(last_n_p) |
| 395 | hbuss | 1279 | { |
| 1173 | hbuss | 1280 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1281 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1282 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
| 498 | hbuss | 1283 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1284 | } |
| 395 | hbuss | 1285 | else last_n_p = 1; |
| 1286 | } else last_n_p = 0; |
||
| 1051 | killagreg | 1287 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| 395 | hbuss | 1288 | { |
| 1289 | if(last_n_n) |
||
| 1051 | killagreg | 1290 | { |
| 1173 | hbuss | 1291 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1292 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1293 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
| 498 | hbuss | 1294 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1295 | } |
| 395 | hbuss | 1296 | else last_n_n = 1; |
| 1297 | } else last_n_n = 0; |
||
| 1051 | killagreg | 1298 | } |
| 1299 | else |
||
| 847 | hbuss | 1300 | { |
| 1301 | cnt = 0; |
||
| 1839 | holgerb | 1302 | KompassSignalSchlecht = 100; |
| 1051 | killagreg | 1303 | } |
| 499 | hbuss | 1304 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1305 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1306 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| 1307 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 401 | hbuss | 1308 | |
| 395 | hbuss | 1309 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1695 | holgerb | 1310 | cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
| 1225 | hbuss | 1311 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1312 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1313 | { |
| 1051 | killagreg | 1314 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| 395 | hbuss | 1315 | { |
| 1051 | killagreg | 1316 | if(last_r_p) |
| 395 | hbuss | 1317 | { |
| 1173 | hbuss | 1318 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1319 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1320 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| 498 | hbuss | 1321 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1322 | } |
| 395 | hbuss | 1323 | else last_r_p = 1; |
| 1324 | } else last_r_p = 0; |
||
| 1051 | killagreg | 1325 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| 395 | hbuss | 1326 | { |
| 1051 | killagreg | 1327 | if(last_r_n) |
| 395 | hbuss | 1328 | { |
| 1173 | hbuss | 1329 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1330 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1331 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| 498 | hbuss | 1332 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1333 | } |
| 1334 | else last_r_n = 1; |
||
| 1335 | } else last_r_n = 0; |
||
| 1051 | killagreg | 1336 | } else |
| 492 | hbuss | 1337 | { |
| 1338 | cnt = 0; |
||
| 1839 | holgerb | 1339 | KompassSignalSchlecht = 100; |
| 1051 | killagreg | 1340 | } |
| 499 | hbuss | 1341 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1342 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1343 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| 1344 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 173 | holgerb | 1345 | } |
| 1051 | killagreg | 1346 | else |
| 498 | hbuss | 1347 | { |
| 1348 | LageKorrekturRoll = 0; |
||
| 1349 | LageKorrekturNick = 0; |
||
| 880 | hbuss | 1350 | TrichterFlug = 0; |
| 498 | hbuss | 1351 | } |
| 1051 | killagreg | 1352 | |
| 498 | hbuss | 1353 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| 1051 | killagreg | 1354 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1355 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1356 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1357 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 395 | hbuss | 1358 | IntegralAccNick = 0; |
| 1359 | IntegralAccRoll = 0; |
||
| 1360 | IntegralAccZ = 0; |
||
| 1361 | MittelIntegralNick = 0; |
||
| 1362 | MittelIntegralRoll = 0; |
||
| 1363 | MittelIntegralNick2 = 0; |
||
| 1364 | MittelIntegralRoll2 = 0; |
||
| 1365 | ZaehlMessungen = 0; |
||
| 1173 | hbuss | 1366 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| 395 | hbuss | 1367 | |
| 1051 | killagreg | 1368 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1369 | // Gieren |
| 1051 | killagreg | 1370 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1840 | holgerb | 1371 | if(abs(StickGier) > 3) // war 15 |
| 1 | ingob | 1372 | { |
| 1839 | holgerb | 1373 | // KompassSignalSchlecht = 1000; |
| 1916 | holgerb | 1374 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
| 1051 | killagreg | 1375 | { |
| 1840 | holgerb | 1376 | NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
| 824 | hbuss | 1377 | }; |
| 1 | ingob | 1378 | } |
| 1944 | holgerb | 1379 | tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| 1380 | tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
||
| 1840 | holgerb | 1381 | tmp_int += CompassGierSetpoint; |
| 173 | holgerb | 1382 | sollGier = tmp_int; |
| 2013 | - | 1383 | //Mess_Integral_Gier -= tmp_int; // MartinR: so war es |
| 1384 | Mess_Integral_Gier -= (tmp_int * 10) / 8; // MartinR: Test um Zurückschwingen bei hohen I-Faktoren zu verringern |
||
| 1385 | //if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen // MartinR: so war es |
||
| 1386 | //if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; // MartinR: so war es |
||
| 1387 | if(Mess_Integral_Gier > 90000) Mess_Integral_Gier = 90000; // begrenzen // MartinR: Begrenzung verändert |
||
| 1388 | if(Mess_Integral_Gier <-90000) Mess_Integral_Gier =-90000; // MartinR: Begrenzung verändert |
||
| 1051 | killagreg | 1389 | |
| 1390 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1391 | // Kompass |
| 1051 | killagreg | 1392 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2013 | - | 1393 | //if(KompassValue >= 0 && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) // MartinR: so war es |
| 1394 | if((KompassValue >= 0 && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) && !(Parameter_UserParam1 > 50)) // MartinR: bei HH über Schalter wird der Kompass abgeschaltet |
||
| 1 | ingob | 1395 | { |
| 1839 | holgerb | 1396 | if(CalculateCompassTimer-- == 1) |
| 1397 | { |
||
| 1398 | int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
||
| 1399 | CalculateCompassTimer = 13; // falls keine Navi-Daten |
||
| 1840 | holgerb | 1400 | // max. Korrekturwert schätzen |
| 1 | ingob | 1401 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| 1402 | v = abs(IntegralRoll /512); |
||
| 1403 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 1972 | holgerb | 1404 | // korrektur = w / 4 + 1; |
| 1405 | korrektur = w / 8 + 2; |
||
| 1941 | holgerb | 1406 | ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
| 1840 | holgerb | 1407 | // Kompassfehlerwert bestimmen |
| 1941 | holgerb | 1408 | fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
| 1840 | holgerb | 1409 | // GIER_GRAD_FAKTOR ist ca. 1200 |
| 1410 | // Kompasswert einloggen |
||
| 1411 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
||
| 1412 | else |
||
| 1413 | if(w < 25) |
||
| 921 | hbuss | 1414 | { |
| 1415 | GierGyroFehler += fehler; |
||
| 1051 | killagreg | 1416 | if(NeueKompassRichtungMerken) |
| 1417 | { |
||
| 1839 | holgerb | 1418 | if(--NeueKompassRichtungMerken == 0) |
| 1419 | { |
||
| 1941 | holgerb | 1420 | KompassSollWert = ErsatzKompassInGrad; |
| 1839 | holgerb | 1421 | } |
| 921 | hbuss | 1422 | } |
| 1 | ingob | 1423 | } |
| 1840 | holgerb | 1424 | // Kompass fusionieren |
| 1839 | holgerb | 1425 | if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
| 1941 | holgerb | 1426 | // MK Gieren |
| 1427 | if(!NeueKompassRichtungMerken) |
||
| 1839 | holgerb | 1428 | { |
| 1941 | holgerb | 1429 | r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
| 1839 | holgerb | 1430 | v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
| 1840 | holgerb | 1431 | CompassGierSetpoint = v / 16; |
| 1432 | } |
||
| 1865 | holgerb | 1433 | else CompassGierSetpoint = 0; |
| 1839 | holgerb | 1434 | } // CalculateCompassTimer |
| 1051 | killagreg | 1435 | } |
| 1840 | holgerb | 1436 | else CompassGierSetpoint = 0; |
| 1972 | holgerb | 1437 | |
| 1438 | //DebugOut.Analog[16] = KompassFusion; |
||
| 1051 | killagreg | 1439 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1440 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| 1051 | killagreg | 1441 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 1442 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| 604 | hbuss | 1443 | |
| 1171 | hbuss | 1444 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| 1445 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
| 1153 | hbuss | 1446 | |
| 1167 | hbuss | 1447 | #define TRIM_MAX 200 |
| 1166 | hbuss | 1448 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| 1449 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
| 1153 | hbuss | 1450 | |
| 2013 | - | 1451 | //MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);// MartinR so war es |
| 1452 | //MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);// MartinR so war es |
||
| 1453 | |||
| 1454 | if(!IntegralFaktor) // MartinR : HH-Mode hinzugefügt |
||
| 1455 | { |
||
| 1456 | MesswertNick = (long) ((long)MesswertNick * GyroFaktor) / (256L / STICK_GAIN) ; // MartinR : hinzugefügt |
||
| 1457 | MesswertRoll = (long) ((long)MesswertRoll * GyroFaktor) / (256L / STICK_GAIN) ; // MartinR : hinzugefügt |
||
| 1458 | //MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN); |
||
| 1459 | //Mess_Integral_Gier = 0; // MartinR: nur Kompass wird bei HH deaktiviert |
||
| 1460 | //Integral_Gier = 0; // MartinR: nur Kompass wird bei HH deaktiviert |
||
| 1461 | } |
||
| 1462 | else // MartinR: ACC-Mode so war es |
||
| 1463 | { |
||
| 1166 | hbuss | 1464 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| 1465 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
| 2013 | - | 1466 | } |
| 1467 | |||
| 1211 | hbuss | 1468 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| 1166 | hbuss | 1469 | |
| 1 | ingob | 1470 | // Maximalwerte abfangen |
| 1685 | holgerb | 1471 | #define MAX_SENSOR (4096) |
| 1216 | killagreg | 1472 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| 1 | ingob | 1473 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| 1474 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1475 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1476 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1477 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1478 | |||
| 1051 | killagreg | 1479 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1480 | // Höhenregelung |
| 1481 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
| 1051 | killagreg | 1482 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1374 | hbuss | 1483 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| 855 | hbuss | 1484 | GasMischanteil *= STICK_GAIN; |
| 1309 | hbuss | 1485 | // if height control is activated |
| 1916 | holgerb | 1486 | if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| 1309 | hbuss | 1487 | { |
| 1698 | holgerb | 1488 | #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
| 1332 | hbuss | 1489 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| 1638 | holgerb | 1490 | |
| 1491 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 1492 | #define OPA_OFFSET_STEP 15 |
||
| 1642 | killagreg | 1493 | #else |
| 1638 | holgerb | 1494 | #define OPA_OFFSET_STEP 10 |
| 1495 | #endif |
||
| 1697 | holgerb | 1496 | int HCGas, HeightDeviation = 0,GasReduction = 0; |
| 1309 | hbuss | 1497 | static int HeightTrimming = 0; // rate for change of height setpoint |
| 1498 | static int FilterHCGas = 0; |
||
| 1587 | killagreg | 1499 | static unsigned long HoverGasFilter = 0; |
| 1322 | hbuss | 1500 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| 1320 | hbuss | 1501 | int CosAttitude; // for projection of hoover gas |
| 1330 | killagreg | 1502 | |
| 1309 | hbuss | 1503 | // get the current hooverpoint |
| 1587 | killagreg | 1504 | DebugOut.Analog[21] = HoverGas; |
| 1642 | killagreg | 1505 | |
| 1322 | hbuss | 1506 | // Expand the measurement |
| 1507 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
| 1508 | if(!BaroExpandActive) |
||
| 1509 | { |
||
| 1510 | if(MessLuftdruck > 920) |
||
| 1511 | { // increase offset |
||
| 1330 | killagreg | 1512 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
| 1322 | hbuss | 1513 | { |
| 1514 | ExpandBaro -= 1; |
||
| 1515 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
| 1516 | beeptime = 300; |
||
| 1352 | hbuss | 1517 | BaroExpandActive = 350; |
| 1330 | killagreg | 1518 | } |
| 1519 | else |
||
| 1322 | hbuss | 1520 | { |
| 1521 | BaroAtLowerLimit = 1; |
||
| 1522 | } |
||
| 1523 | } |
||
| 1524 | // measurement of air pressure close to lower limit and |
||
| 1330 | killagreg | 1525 | else |
| 1322 | hbuss | 1526 | if(MessLuftdruck < 100) |
| 1527 | { // decrease offset |
||
| 1330 | killagreg | 1528 | if(OCR0A > OPA_OFFSET_STEP) |
| 1322 | hbuss | 1529 | { |
| 1530 | ExpandBaro += 1; |
||
| 1531 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
| 1532 | beeptime = 300; |
||
| 1352 | hbuss | 1533 | BaroExpandActive = 350; |
| 1330 | killagreg | 1534 | } |
| 1535 | else |
||
| 1322 | hbuss | 1536 | { |
| 1537 | BaroAtUpperLimit = 1; |
||
| 1538 | } |
||
| 1539 | } |
||
| 1330 | killagreg | 1540 | else |
| 1322 | hbuss | 1541 | { |
| 1542 | BaroAtUpperLimit = 0; |
||
| 1543 | BaroAtLowerLimit = 0; |
||
| 1544 | } |
||
| 1545 | } |
||
| 1546 | else // delay, because of expanding the Baro-Range |
||
| 1547 | { |
||
| 1548 | // now clear the D-values |
||
| 1549 | SummenHoehe = HoehenWert * SM_FILTER; |
||
| 1550 | VarioMeter = 0; |
||
| 1551 | BaroExpandActive--; |
||
| 1552 | } |
||
| 1328 | hbuss | 1553 | |
| 1554 | // if height control is activated by an rc channel |
||
| 1916 | holgerb | 1555 | if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| 1328 | hbuss | 1556 | { // check if parameter is less than activation threshold |
| 2013 | - | 1557 | // if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position // MartinR :so war es |
| 1558 | if((Parameter_HoehenSchalter < 50) || (Parameter_UserParam1 > 140) ) // MartinR: Schalter aus oder HH ohne Höhenregler über UsererParam1 an |
||
| 1328 | hbuss | 1559 | { //height control not active |
| 1560 | if(!delay--) |
||
| 1561 | { |
||
| 1562 | HoehenReglerAktiv = 0; // disable height control |
||
| 1563 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
| 1564 | delay = 1; |
||
| 1565 | } |
||
| 1566 | } |
||
| 1567 | else |
||
| 1568 | { //height control is activated |
||
| 1569 | HoehenReglerAktiv = 1; // enable height control |
||
| 1334 | killagreg | 1570 | delay = 200; |
| 1328 | hbuss | 1571 | } |
| 1051 | killagreg | 1572 | } |
| 1309 | hbuss | 1573 | else // no switchable height control |
| 1574 | { |
||
| 1916 | holgerb | 1575 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
| 2013 | - | 1576 | // HoehenReglerAktiv = 1; // MartinR : so war es |
| 1577 | // MartinR : geändert Anfang |
||
| 1578 | if(Parameter_UserParam1 > 140) // HH über Schalter: HH an + Höhenregler abgeschaltet, Nachführen von Parametern |
||
| 1579 | { |
||
| 1580 | HoehenReglerAktiv = 0; |
||
| 1581 | } |
||
| 1582 | else // Höhenregler mit Sollhöhe über Poti aktiv |
||
| 1583 | { |
||
| 1584 | HoehenReglerAktiv = 1; |
||
| 1585 | } |
||
| 1586 | // MartinR : geändert Ende |
||
| 1051 | killagreg | 1587 | } |
| 1322 | hbuss | 1588 | |
| 1320 | hbuss | 1589 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
| 1330 | killagreg | 1590 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| 1591 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
| 1592 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
| 1320 | hbuss | 1593 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
| 1594 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
| 1591 | holgerb | 1595 | VarioCharacter = ' '; |
| 1942 | holgerb | 1596 | AltitudeSetpointTrimming = 0; |
| 1765 | killagreg | 1597 | if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| 1309 | hbuss | 1598 | { |
| 1330 | killagreg | 1599 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
| 1309 | hbuss | 1600 | // Holger original version |
| 1601 | // start of height control algorithm |
||
| 1602 | // the height control is only an attenuation of the actual gas stick. |
||
| 1603 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
| 1604 | // and the hover height will be allways larger than height setpoint. |
||
| 1861 | holgerb | 1605 | FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
| 1916 | holgerb | 1606 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| 1314 | killagreg | 1607 | { // old version |
| 1309 | hbuss | 1608 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| 1609 | HeightTrimming = 0; |
||
| 1942 | holgerb | 1610 | AltitudeSetpointTrimming = 0; |
| 1773 | killagreg | 1611 | // set both flags to indicate no vario mode |
| 1612 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
| 1309 | hbuss | 1613 | } |
| 1314 | killagreg | 1614 | else |
| 1309 | hbuss | 1615 | { |
| 1616 | // alternative height control |
||
| 1617 | // PD-Control with respect to hoover point |
||
| 1618 | // the thrust loss out of horizontal attitude is compensated |
||
| 1619 | // the setpoint will be fine adjusted with the gas stick position |
||
| 2013 | - | 1620 | HeightDeviation = HoehenWert - SollHoehe; //MartinR: Test |
| 1943 | holgerb | 1621 | if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
| 1309 | hbuss | 1622 | { // gas stick is above hoover point |
| 1587 | killagreg | 1623 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| 1309 | hbuss | 1624 | { |
| 1767 | killagreg | 1625 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
| 1309 | hbuss | 1626 | { |
| 1767 | killagreg | 1627 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
| 2013 | - | 1628 | //SollHoehe = HoehenWert; // update setpoint to current heigth // MartinR: so war es |
| 1629 | SollHoehe = HoehenWert - HeightDeviation / 2; // MartinR: um den Sollwertsprung zu verringern |
||
| 1309 | hbuss | 1630 | } |
| 1767 | killagreg | 1631 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
| 1966 | holgerb | 1632 | // Limit the maximum Altitude |
| 1633 | if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0; |
||
| 1634 | else |
||
| 1635 | { |
||
| 1636 | // SollHoehe = (long) Parameter_MaximumAltitude * 100L; |
||
| 1637 | // HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
| 1942 | holgerb | 1638 | AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1591 | holgerb | 1639 | VarioCharacter = '+'; |
| 1966 | holgerb | 1640 | } |
| 1865 | holgerb | 1641 | WaypointTrimming = 0; |
| 1309 | hbuss | 1642 | } // gas stick is below hoover point |
| 1587 | killagreg | 1643 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| 1309 | hbuss | 1644 | { |
| 1767 | killagreg | 1645 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) |
| 1309 | hbuss | 1646 | { |
| 1767 | killagreg | 1647 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
| 2013 | - | 1648 | //SollHoehe = HoehenWert; // update setpoint to current heigth // MartinR: so war es |
| 1649 | SollHoehe = HoehenWert - HeightDeviation / 2; // MartinR: um den Sollwertsprung zu verringern |
||
| 1309 | hbuss | 1650 | } |
| 1767 | killagreg | 1651 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
| 1942 | holgerb | 1652 | AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1653 | // HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
||
| 1591 | holgerb | 1654 | VarioCharacter = '-'; |
| 1865 | holgerb | 1655 | WaypointTrimming = 0; |
| 1309 | hbuss | 1656 | } |
| 1587 | killagreg | 1657 | else // Gas Stick in Hover Range |
| 1309 | hbuss | 1658 | { |
| 1855 | holgerb | 1659 | VarioCharacter = '='; |
| 1857 | holgerb | 1660 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
| 1855 | holgerb | 1661 | { |
| 1662 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
||
| 1942 | holgerb | 1663 | AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
| 1664 | //HeightTrimming += FromNC_AltitudeSpeed; |
||
| 1857 | holgerb | 1665 | WaypointTrimming = 10; |
| 1666 | VarioCharacter = '^'; |
||
| 1865 | holgerb | 1667 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
| 1668 | { |
||
| 1669 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
||
| 2013 | - | 1670 | //SollHoehe = HoehenWert; // update setpoint to current heigth // MartinR: so war es |
| 1671 | SollHoehe = HoehenWert - HeightDeviation / 2; // MartinR: um den Sollwertsprung zu verringern |
||
| 1865 | holgerb | 1672 | } |
| 1855 | holgerb | 1673 | } |
| 1674 | else |
||
| 1857 | holgerb | 1675 | if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
| 1855 | holgerb | 1676 | { |
| 1677 | FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
||
| 1942 | holgerb | 1678 | AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
| 1679 | //HeightTrimming -= FromNC_AltitudeSpeed; |
||
| 1857 | holgerb | 1680 | WaypointTrimming = -10; |
| 1681 | VarioCharacter = 'v'; |
||
| 1865 | holgerb | 1682 | if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
| 1683 | { |
||
| 1684 | FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
||
| 2013 | - | 1685 | //SollHoehe = HoehenWert; // update setpoint to current heigth // MartinR: so war es |
| 1686 | SollHoehe = HoehenWert - HeightDeviation / 2; // MartinR: um den Sollwertsprung zu verringern |
||
| 1865 | holgerb | 1687 | } |
| 1855 | holgerb | 1688 | } |
| 1689 | else |
||
| 1767 | killagreg | 1690 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
| 1309 | hbuss | 1691 | { |
| 1933 | holgerb | 1692 | if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied |
| 1693 | else WaypointTrimming = 0; |
||
| 1767 | killagreg | 1694 | FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| 1309 | hbuss | 1695 | HeightTrimming = 0; |
| 1916 | holgerb | 1696 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
| 1698 | holgerb | 1697 | if(!StartTrigger && HoehenWert > 50) |
| 1698 | { |
||
| 1699 | StartTrigger = 1; |
||
| 1765 | killagreg | 1700 | } |
| 1309 | hbuss | 1701 | } |
| 1702 | } |
||
| 1703 | // Trim height set point |
||
| 1942 | holgerb | 1704 | HeightTrimming += AltitudeSetpointTrimming; |
| 1705 | if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
||
| 1309 | hbuss | 1706 | { |
| 1857 | holgerb | 1707 | if(WaypointTrimming) |
| 1708 | { |
||
| 1709 | if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
||
| 1710 | else SollHoehe += WaypointTrimming; |
||
| 1711 | } |
||
| 1712 | else |
||
| 1966 | holgerb | 1713 | { |
| 1714 | if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
||
| 1715 | else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
||
| 1716 | } |
||
| 1309 | hbuss | 1717 | HeightTrimming = 0; |
| 1932 | holgerb | 1718 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| 1916 | holgerb | 1719 | if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
| 1320 | hbuss | 1720 | //update hoover gas stick value when setpoint is shifted |
| 1857 | holgerb | 1721 | if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
| 1332 | hbuss | 1722 | { |
| 1587 | killagreg | 1723 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
| 1724 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1725 | if(StickGasHover < 70) StickGasHover = 70; |
||
| 1726 | else if(StickGasHover > 150) StickGasHover = 150; |
||
| 1332 | hbuss | 1727 | } |
| 1309 | hbuss | 1728 | } |
| 1352 | hbuss | 1729 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
| 1420 | killagreg | 1730 | } //if FCFlags & MKFCFLAG_FLY |
| 1330 | killagreg | 1731 | else |
| 1732 | { |
||
| 1322 | hbuss | 1733 | SollHoehe = HoehenWert - 400; |
| 1587 | killagreg | 1734 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1735 | else StickGasHover = 120; |
||
| 1698 | holgerb | 1736 | HoverGas = GasMischanteil; |
| 1972 | holgerb | 1737 | VarioCharacter = '.'; |
| 1320 | hbuss | 1738 | } |
| 1590 | killagreg | 1739 | HCGas = HoverGas; // take hover gas (neutral point) |
| 1740 | } |
||
| 1916 | holgerb | 1741 | if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| 1283 | hbuss | 1742 | { |
| 1590 | killagreg | 1743 | // from this point the Heigth Control Algorithm is identical for both versions |
| 1744 | if(BaroExpandActive) // baro range expanding active |
||
| 1745 | { |
||
| 1746 | HCGas = HoverGas; // hover while expanding baro adc range |
||
| 1747 | HeightDeviation = 0; |
||
| 1748 | } // EOF // baro range expanding active |
||
| 1749 | else // valid data from air pressure sensor |
||
| 1750 | { |
||
| 1751 | // ------------------------- P-Part ---------------------------- |
||
| 1752 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
| 1753 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
| 1754 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
| 2013 | - | 1755 | //tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part // MartinR: so war es |
| 1756 | // MartinR: geändert Anfang |
||
| 1757 | if ((SollHoehe > (HoehenWert+64)) || (SollHoehe < (HoehenWert-64))) |
||
| 1758 | { |
||
| 1759 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 24L; // p-part // MartinR P-Part erhoehen |
||
| 1760 | } |
||
| 1761 | else |
||
| 1762 | { |
||
| 1695 | holgerb | 1763 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
| 2013 | - | 1764 | } |
| 1765 | // MartinR: geändert Ende |
||
| 1766 | //LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense // MartinR: so war es |
||
| 1767 | // MartinR: weshalb unsymmetrisch? |
||
| 1768 | LIMIT_MIN_MAX(tmp_long, -128 * STICK_GAIN, 128 * STICK_GAIN); // more than the full range makes no sense // MartinR: geändert |
||
| 1698 | holgerb | 1769 | GasReduction = tmp_long; |
| 1590 | killagreg | 1770 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
| 2013 | - | 1771 | //tmp_int = VarioMeter / 8; // MartinR: so war es |
| 1772 | // MartinR: geändert Anfang |
||
| 1773 | tmp_int = VarioMeter / 4; // MartinR: geändert // Variometer: steigen ist positiv |
||
| 1774 | { |
||
| 1775 | if ((SollHoehe > (HoehenWert+512)) || (SollHoehe < (HoehenWert-512))) |
||
| 1776 | //if ((StickGas > (StickGasHover + 3*HEIGHT_CONTROL_STICKTHRESHOLD)) || (StickGas < (StickGasHover - 3*HEIGHT_CONTROL_STICKTHRESHOLD))) |
||
| 1777 | { |
||
| 1778 | tmp_int = tmp_int + HeightDeviation / 28; |
||
| 1779 | //tmp_int = tmp_int + Parameter_Hoehe_ACC_Wirkung* HeightDeviation / 64; // reduce d-part while trimming setpoint // MartinR: geändert |
||
| 1780 | } |
||
| 1781 | else |
||
| 1782 | { |
||
| 1783 | tmp_int = tmp_int + HeightDeviation / 32; |
||
| 1784 | //tmp_int = tmp_int + Parameter_Hoehe_ACC_Wirkung* HeightDeviation / 64; |
||
| 1785 | } |
||
| 1786 | } |
||
| 1787 | // MartinR: geändert Ende |
||
| 1788 | |||
| 1765 | killagreg | 1789 | LIMIT_MIN_MAX(tmp_int, -127, 128); |
| 1705 | holgerb | 1790 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
| 1791 | LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 2013 | - | 1792 | /* // MartinR: so war es Anfang |
| 1767 | killagreg | 1793 | if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
| 1765 | killagreg | 1794 | else |
| 2013 | - | 1795 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
| 1796 | */ // MartinR: so war es Ende |
||
| 1797 | tmp_int /= 4; // MartinR: geändert: keine veränderung des d-part im "Deckel" mode |
||
| 1798 | //if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint // MartinR: geändert |
||
| 1799 | |||
| 1698 | holgerb | 1800 | GasReduction += tmp_int; |
| 1590 | killagreg | 1801 | } // EOF no baro range expanding |
| 1309 | hbuss | 1802 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| 2013 | - | 1803 | /* // MartinR: deaktiviert Anfang, da statische Ablage bei Schräglage Probleme macht |
| 1698 | holgerb | 1804 | if(Parameter_Hoehe_ACC_Wirkung) |
| 1805 | { |
||
| 1806 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
||
| 1807 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1808 | GasReduction += tmp_long; |
||
| 1765 | killagreg | 1809 | } |
| 2013 | - | 1810 | */ // MartinR: deaktiviert Ende |
| 1587 | killagreg | 1811 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
| 1588 | killagreg | 1812 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
| 2013 | - | 1813 | //LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); // MartinR: so war es |
| 1814 | // MartinR: weshalb unsymmetrisch? |
||
| 1815 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 32 * STICK_GAIN); // MartinR: geändert |
||
| 1698 | holgerb | 1816 | GasReduction += tmp_int; |
| 1701 | holgerb | 1817 | GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
| 1818 | // ------------------------ ---------------------------------- |
||
| 1819 | HCGas -= GasReduction; |
||
| 1309 | hbuss | 1820 | // limit deviation from hoover point within the target region |
| 1942 | holgerb | 1821 | if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
| 1309 | hbuss | 1822 | { |
| 1765 | killagreg | 1823 | unsigned int tmp; |
| 1705 | holgerb | 1824 | tmp = abs(HeightDeviation); |
| 1825 | if(tmp <= 60) |
||
| 1826 | { |
||
| 1827 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
||
| 1828 | } |
||
| 1829 | else |
||
| 1765 | killagreg | 1830 | { |
| 1705 | holgerb | 1831 | tmp = (tmp - 60) / 32; |
| 1692 | holgerb | 1832 | if(tmp > 15) tmp = 15; |
| 1705 | holgerb | 1833 | if(HeightDeviation > 0) |
| 1693 | holgerb | 1834 | { |
| 1705 | holgerb | 1835 | tmp = (HoverGasMin * (16 - tmp)) / 16; |
| 1836 | LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
||
| 1693 | holgerb | 1837 | } |
| 1705 | holgerb | 1838 | else |
| 1839 | { |
||
| 1840 | tmp = (HoverGasMax * (tmp + 16)) / 16; |
||
| 1841 | LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
||
| 1842 | } |
||
| 1843 | } |
||
| 1309 | hbuss | 1844 | } |
| 1322 | hbuss | 1845 | // strech control output by inverse attitude projection 1/cos |
| 1846 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
| 1330 | killagreg | 1847 | tmp_long2 = (int32_t)HCGas; |
| 1848 | tmp_long2 *= 8192L; |
||
| 1849 | tmp_long2 /= CosAttitude; |
||
| 1850 | HCGas = (int16_t)tmp_long2; |
||
| 1309 | hbuss | 1851 | // update height control gas averaging |
| 1852 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
| 1853 | // limit height control gas pd-control output |
||
| 1854 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
| 1855 | // set GasMischanteil to HeightControlGasFilter |
||
| 1916 | holgerb | 1856 | if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
| 1587 | killagreg | 1857 | { // old version |
| 1858 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
| 1719 | holgerb | 1859 | GasMischanteil = FilterHCGas; |
| 1765 | killagreg | 1860 | } |
| 2013 | - | 1861 | //else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode // MartinR: so war es |
| 1862 | else GasMischanteil = FilterHCGas ; // MartinR: geändert, um Überschwinger bei Höhenänderung zu verringern |
||
| 1314 | killagreg | 1863 | } |
| 1309 | hbuss | 1864 | }// EOF height control active |
| 1320 | hbuss | 1865 | else // HC not active |
| 1866 | { |
||
| 1867 | //update hoover gas stick value when HC is not active |
||
| 1587 | killagreg | 1868 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1869 | { |
||
| 1870 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
| 1871 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1322 | hbuss | 1872 | } |
| 1587 | killagreg | 1873 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1874 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
| 1328 | hbuss | 1875 | FilterHCGas = GasMischanteil; |
| 1773 | killagreg | 1876 | // set both flags to indicate no vario mode |
| 1877 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
| 1861 | holgerb | 1878 | FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
| 1330 | killagreg | 1879 | } |
| 1587 | killagreg | 1880 | // Hover gas estimation by averaging gas control output on small z-velocities |
| 1309 | hbuss | 1881 | // this is done only if height contol option is selected in global config and aircraft is flying |
| 1765 | killagreg | 1882 | if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| 1309 | hbuss | 1883 | { |
| 1698 | holgerb | 1884 | if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| 1885 | if(StartTrigger == 1) StartTrigger = 2; |
||
| 1330 | killagreg | 1886 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| 1887 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
| 1888 | tmp_long2 /= 8192; |
||
| 1309 | hbuss | 1889 | // average vertical projected thrust |
| 1698 | holgerb | 1890 | if(modell_fliegt < 4000) // the first 8 seconds |
| 1891 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
| 1892 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
||
| 1893 | HoverGasFilter += 16L * tmp_long2; |
||
| 1309 | hbuss | 1894 | } |
| 1698 | holgerb | 1895 | if(modell_fliegt < 8000) // the first 16 seconds |
| 1896 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
| 1590 | killagreg | 1897 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
| 1587 | killagreg | 1898 | HoverGasFilter += 4L * tmp_long2; |
| 1309 | hbuss | 1899 | } |
| 1698 | holgerb | 1900 | else //later |
| 1865 | holgerb | 1901 | if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
| 1309 | hbuss | 1902 | { |
| 1590 | killagreg | 1903 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
| 1587 | killagreg | 1904 | HoverGasFilter += tmp_long2; |
| 1309 | hbuss | 1905 | } |
| 1590 | killagreg | 1906 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
| 1309 | hbuss | 1907 | if(EE_Parameter.Hoehe_HoverBand) |
| 1908 | { |
||
| 1909 | int16_t band; |
||
| 1587 | killagreg | 1910 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| 1911 | HoverGasMin = HoverGas - band; |
||
| 1912 | HoverGasMax = HoverGas + band; |
||
| 1309 | hbuss | 1913 | } |
| 1914 | else |
||
| 1915 | { // no limit |
||
| 1587 | killagreg | 1916 | HoverGasMin = 0; |
| 1917 | HoverGasMax = 1023; |
||
| 1309 | hbuss | 1918 | } |
| 1765 | killagreg | 1919 | } |
| 1920 | else |
||
| 1698 | holgerb | 1921 | { |
| 1922 | StartTrigger = 0; |
||
| 1923 | HoverGasFilter = 0; |
||
| 1924 | HoverGas = 0; |
||
| 1765 | killagreg | 1925 | } |
| 1916 | holgerb | 1926 | }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
| 1773 | killagreg | 1927 | else |
| 1928 | { |
||
| 1929 | // set undefined state to indicate vario off |
||
| 1930 | FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
||
| 1931 | } // EOF no height control |
||
| 1932 | |||
| 1309 | hbuss | 1933 | // limit gas to parameter setting |
| 1320 | hbuss | 1934 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| 855 | hbuss | 1935 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| 1111 | hbuss | 1936 | |
| 1051 | killagreg | 1937 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1320 | hbuss | 1938 | // all BL-Ctrl connected? |
| 1939 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1944 | holgerb | 1940 | if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
| 1931 | holgerb | 1941 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
| 1320 | hbuss | 1942 | { |
| 1943 | modell_fliegt = 1; |
||
| 1675 | holgerb | 1944 | GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
| 1320 | hbuss | 1945 | } |
| 1946 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1947 | // + Mischer und PI-Regler |
| 1051 | killagreg | 1948 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 1949 | DebugOut.Analog[7] = GasMischanteil; |
| 1051 | killagreg | 1950 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1951 | // Gier-Anteil |
| 1051 | killagreg | 1952 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 855 | hbuss | 1953 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| 1954 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
| 693 | hbuss | 1955 | if(GasMischanteil > MIN_GIERGAS) |
| 1956 | { |
||
| 1051 | killagreg | 1957 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| 1958 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
| 693 | hbuss | 1959 | } |
| 1051 | killagreg | 1960 | else |
| 693 | hbuss | 1961 | { |
| 1051 | killagreg | 1962 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| 1963 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
| 693 | hbuss | 1964 | } |
| 855 | hbuss | 1965 | tmp_int = MAX_GAS*STICK_GAIN; |
| 1051 | killagreg | 1966 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| 855 | hbuss | 1967 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| 2013 | - | 1968 | |
| 1969 | |||
| 1970 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1971 | // Nick / Roll-Achse // MartinR: um Code zu sparen wurde Nick und Roll zusammengefasst |
||
| 1972 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1973 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
||
| 1974 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 513 | hbuss | 1975 | |
| 2013 | - | 1976 | // PI-Regler für Nick und Roll |
| 1977 | if(EE_Parameter.Gyro_Stability <= 8) |
||
| 1978 | { |
||
| 1979 | pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 ; // Zwischenergebnis um Code zu sparen |
||
| 1980 | pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; |
||
| 1981 | } |
||
| 1982 | else |
||
| 1983 | { |
||
| 1984 | pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
| 1985 | pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
| 1986 | } |
||
| 1987 | |||
| 1988 | if(IntegralFaktor) // MartinR : ACC-Mode |
||
| 1989 | { |
||
| 1990 | SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
||
| 1991 | if(SummeNick > (STICK_GAIN * 8000L)) SummeNick = (STICK_GAIN * 8000L); // MartinR : von 16000 auf 8000, da überlauf |
||
| 1992 | if(SummeNick < -(8000L * STICK_GAIN)) SummeNick = -(8000L * STICK_GAIN); // MartinR : von 16000 auf 8000, da überlauf |
||
| 1993 | pd_ergebnis_nick += (SummeNick / Ki); // PI-Regler für Nick |
||
| 1994 | SummeNickHH = 0 ; |
||
| 1995 | |||
| 1996 | SummeRoll += IntegralRollMalFaktor - StickRoll; |
||
| 1997 | if(SummeRoll > (STICK_GAIN * 8000L)) SummeRoll = (STICK_GAIN * 8000L);// MartinR : von 16000 auf 8000, da überlauf |
||
| 1998 | if(SummeRoll < -(8000L * STICK_GAIN)) SummeRoll = -(8000L * STICK_GAIN);// MartinR : von 16000 auf 8000, da überlauf |
||
| 1999 | pd_ergebnis_roll += (SummeRoll / Ki); // PI-Regler für Roll |
||
| 2000 | SummeRollHH = 0; |
||
| 2001 | |||
| 2002 | } |
||
| 2003 | else // MartinR : HH-Mode |
||
| 2004 | { |
||
| 2005 | SummeNickHH += DiffNick; // I-Anteil bei HH |
||
| 2006 | if(SummeNickHH > (STICK_GAIN * 8000L)) SummeNickHH = (STICK_GAIN * 8000L); // MartinR : von 16000 auf 8000, da überlauf |
||
| 2007 | if(SummeNickHH < -(8000L * STICK_GAIN)) SummeNickHH = -(8000L * STICK_GAIN); // MartinR : von 16000 auf 8000, da überlauf |
||
| 2008 | pd_ergebnis_nick += SummeNickHH / KiHH; // MartinR: PI-Regler für Nick bei HH |
||
| 2009 | SummeNick = 0; |
||
| 2010 | |||
| 2011 | SummeRollHH += DiffRoll; // I-Anteil bei HH |
||
| 2012 | if(SummeRollHH > (STICK_GAIN * 8000L)) SummeRollHH = (STICK_GAIN * 8000L);// MartinR : von 16000 auf 8000, da überlauf |
||
| 2013 | if(SummeRollHH < -(8000L * STICK_GAIN)) SummeRollHH = -(8000L * STICK_GAIN);// MartinR : von 16000 auf 8000, da überlauf |
||
| 2014 | pd_ergebnis_roll += SummeRollHH / KiHH; // MartinR: PI-Regler für Roll bei HH |
||
| 2015 | SummeRoll = 0; |
||
| 2016 | } |
||
| 2017 | // MartinR : geändert Ende |
||
| 2018 | |||
| 2019 | |||
| 2020 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
| 2021 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
||
| 2022 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
| 2023 | |||
| 2024 | //tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
||
| 2025 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
||
| 2026 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
| 2027 | |||
| 2028 | |||
| 2029 | // MartinR: alt |
||
| 2030 | /* |
||
| 1051 | killagreg | 2031 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 2032 | // Nick-Achse |
| 1051 | killagreg | 2033 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 723 | hbuss | 2034 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| 1153 | hbuss | 2035 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| 1051 | killagreg | 2036 | else SummeNick += DiffNick; // I-Anteil bei HH |
| 855 | hbuss | 2037 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| 2038 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1791 | holgerb | 2039 | |
| 2040 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
||
| 2041 | else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
||
| 2042 | pd_ergebnis_nick += SummeNick / Ki; |
||
| 2043 | |||
| 1676 | holgerb | 2044 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 2045 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| 2046 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
| 173 | holgerb | 2047 | |
| 1153 | hbuss | 2048 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2049 | // Roll-Achse |
||
| 2050 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 2051 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 2052 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 2053 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 2054 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
| 2055 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
| 1791 | holgerb | 2056 | |
| 2057 | if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
||
| 2058 | else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
||
| 2059 | pd_ergebnis_roll += SummeRoll / Ki; |
||
| 2060 | |||
| 1676 | holgerb | 2061 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| 1153 | hbuss | 2062 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
| 2063 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
| 2064 | |||
| 2013 | - | 2065 | */ |
| 2066 | // MartinR: alt Ende |
||
| 2067 | |||
| 1153 | hbuss | 2068 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1209 | hbuss | 2069 | // Universal Mixer |
| 1155 | hbuss | 2070 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1642 | killagreg | 2071 | for(i=0; i<MAX_MOTORS; i++) |
| 2072 | { |
||
| 2073 | signed int tmp_int; |
||
| 2074 | if(Mixer.Motor[i][0] > 0) |
||
| 2075 | { |
||
| 1652 | holgerb | 2076 | // Gas |
| 1676 | holgerb | 2077 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
| 1652 | holgerb | 2078 | // Nick |
| 2079 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
| 2080 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
| 2081 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
| 2082 | // Roll |
||
| 2083 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
| 2084 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
| 2085 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
| 2086 | // Gier |
||
| 1676 | holgerb | 2087 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
| 2088 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
||
| 2089 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
||
| 1675 | holgerb | 2090 | |
| 1913 | holgerb | 2091 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
| 2092 | // else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
||
| 2093 | else |
||
| 2094 | { |
||
| 2095 | if(EE_Parameter.MotorSmooth == 0) |
||
| 2096 | { |
||
| 1931 | holgerb | 2097 | tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
| 1913 | holgerb | 2098 | } |
| 2099 | else // 1 means tmp_int = tmp_int; |
||
| 2100 | if(EE_Parameter.MotorSmooth > 1) |
||
| 2101 | { |
||
| 2102 | // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
||
| 1925 | holgerb | 2103 | tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth); |
| 1913 | holgerb | 2104 | } |
| 2105 | } |
||
| 1931 | holgerb | 2106 | |
| 1760 | holgerb | 2107 | LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
| 1676 | holgerb | 2108 | Motor[i].SetPoint = tmp_int / 4; |
| 1677 | killagreg | 2109 | Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
| 1652 | holgerb | 2110 | tmp_motorwert[i] = tmp_int; |
| 1642 | killagreg | 2111 | } |
| 2112 | else |
||
| 2113 | { |
||
| 2114 | Motor[i].SetPoint = 0; |
||
| 2115 | Motor[i].SetPointLowerBits = 0; |
||
| 2116 | } |
||
| 2117 | } |
||
| 1111 | hbuss | 2118 | } |