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1 ingob 1
/*#######################################################################################
2
Flight Control
3
#######################################################################################*/
4
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 5
// + Copyright (c) Holger Buss, Ingo Busker
6
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
1 ingob 7
// + www.MikroKopter.com
8
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 9
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
10
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
11
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
12
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 13
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
14
// + Verkauf von Luftbildaufnahmen, usw.
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 16
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
1 ingob 17
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
18
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
20
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
21
// + eindeutig als Ursprung verlinkt werden
22
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
23
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
24
// + Benutzung auf eigene Gefahr
25
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 27
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1 ingob 28
// + mit unserer Zustimmung zulässig
29
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 32
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1 ingob 33
// + this list of conditions and the following disclaimer.
34
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
35
// +     from this software without specific prior written permission.
1051 killagreg 36
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
1 ingob 37
// +     for non-commercial use (directly or indirectly)
1051 killagreg 38
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 39
// +     with our written permission
1051 killagreg 40
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
41
// +     clearly linked as origin
1338 ingob 42
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
1 ingob 43
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
44
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
45
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
46
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
47
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
48
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
49
// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
1322 hbuss 50
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
51
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
1 ingob 52
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
1051 killagreg 53
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 54
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
55
 
56
#include "main.h"
1320 hbuss 57
#include "mymath.h"
1330 killagreg 58
#include "isqrt.h"
1 ingob 59
 
1829 - 60
//MartinW; added vars
61
unsigned char loop1, loop2, loop3;
62
unsigned char settingdest = 5;
63
int keynumber=-7;
64
 
65
unsigned short CurrentOffset = 0;///
66
 
67
unsigned char pos1, pos2, pos3, pos4=0;
68
unsigned char Motors0,Motors1,Motors2,Motors3,Motors4,Motors5,Motors6,Motors7;
69
unsigned char Motors0max,Motors1max,Motors2max,Motors3max,Motors4max,Motors5max,Motors6max,Motors7max;
70
unsigned short MotorsTmax;
71
unsigned char updatemotors=5;
72
//MartinW; added vars
73
 
74
 
1352 hbuss 75
unsigned char h,m,s;
76
unsigned int BaroExpandActive = 0;
1153 hbuss 77
int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll;
1166 hbuss 78
int TrimNick, TrimRoll;
927 hbuss 79
int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
1703 holgerb 80
int Mittelwert_AccNick, Mittelwert_AccRoll;
1643 holgerb 81
unsigned int NeutralAccX=0, NeutralAccY=0;
805 hbuss 82
int NaviAccNick, NaviAccRoll,NaviCntAcc = 0;
1639 holgerb 83
int NeutralAccZ = 0;
1683 killagreg 84
unsigned char ControlHeading = 0;// in 2°
693 hbuss 85
long IntegralNick = 0,IntegralNick2 = 0;
86
long IntegralRoll = 0,IntegralRoll2 = 0;
87
long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
88
long Integral_Gier = 0;
89
long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0;
90
long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0;
91
long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
92
long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2;
1685 holgerb 93
long SummeNick=0,SummeRoll=0;
1 ingob 94
volatile long Mess_Integral_Hoch = 0;
1153 hbuss 95
int  KompassValue = 0;
96
int  KompassStartwert = 0;
97
int  KompassRichtung = 0;
693 hbuss 98
unsigned int  KompassSignalSchlecht = 500;
855 hbuss 99
unsigned char  MAX_GAS,MIN_GAS;
1 ingob 100
unsigned char HoehenReglerAktiv = 0;
880 hbuss 101
unsigned char TrichterFlug = 0;
395 hbuss 102
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
693 hbuss 103
long  ErsatzKompass;
104
int   ErsatzKompassInGrad; // Kompasswert in Grad
105
int   GierGyroFehler = 0;
1211 hbuss 106
char GyroFaktor,GyroFaktorGier;
107
char IntegralFaktor,IntegralFaktorGier;
1153 hbuss 108
int  DiffNick,DiffRoll;
1377 hbuss 109
//int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
1391 killagreg 110
unsigned char Poti[9] = {0,0,0,0,0,0,0,0};
1 ingob 111
volatile unsigned char SenderOkay = 0;
595 hbuss 112
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
1698 holgerb 113
char MotorenEin = 0,StartTrigger = 0;
1246 killagreg 114
long HoehenWert = 0;
115
long SollHoehe = 0;
1692 holgerb 116
int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0;
1153 hbuss 117
//float Ki =  FAKTOR_I;
1676 holgerb 118
int Ki = 10300 / 33;
395 hbuss 119
unsigned char Looping_Nick = 0,Looping_Roll = 0;
120
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
1 ingob 121
 
122
unsigned char Parameter_Luftdruck_D  = 48;      // Wert : 0-250
123
unsigned char Parameter_MaxHoehe     = 251;      // Wert : 0-250
124
unsigned char Parameter_Hoehe_P      = 16;      // Wert : 0-32
125
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
126
unsigned char Parameter_KompassWirkung = 64;    // Wert : 0-250
1283 hbuss 127
unsigned char Parameter_Hoehe_GPS_Z = 64;        // Wert : 0-250
1111 hbuss 128
unsigned char Parameter_Gyro_D = 8;             // Wert : 0-250
173 holgerb 129
unsigned char Parameter_Gyro_P = 150;           // Wert : 10-250
1 ingob 130
unsigned char Parameter_Gyro_I = 150;           // Wert : 0-250
1322 hbuss 131
unsigned char Parameter_Gyro_Gier_P = 150;      // Wert : 10-250
132
unsigned char Parameter_Gyro_Gier_I = 150;      // Wert : 10-250
1 ingob 133
unsigned char Parameter_Gier_P = 2;             // Wert : 1-20
134
unsigned char Parameter_I_Faktor = 10;          // Wert : 1-20
135
unsigned char Parameter_UserParam1 = 0;
136
unsigned char Parameter_UserParam2 = 0;
137
unsigned char Parameter_UserParam3 = 0;
138
unsigned char Parameter_UserParam4 = 0;
499 hbuss 139
unsigned char Parameter_UserParam5 = 0;
140
unsigned char Parameter_UserParam6 = 0;
141
unsigned char Parameter_UserParam7 = 0;
142
unsigned char Parameter_UserParam8 = 0;
1 ingob 143
unsigned char Parameter_ServoNickControl = 100;
1232 hbuss 144
unsigned char Parameter_ServoRollControl = 100;
173 holgerb 145
unsigned char Parameter_LoopGasLimit = 70;
1120 hbuss 146
unsigned char Parameter_AchsKopplung1 = 90;
147
unsigned char Parameter_AchsKopplung2 = 65;
148
unsigned char Parameter_CouplingYawCorrection = 64;
149
//unsigned char Parameter_AchsGegenKopplung1 = 0;
499 hbuss 150
unsigned char Parameter_DynamicStability = 100;
921 hbuss 151
unsigned char Parameter_J16Bitmask;             // for the J16 Output
152
unsigned char Parameter_J16Timing;              // for the J16 Output
153
unsigned char Parameter_J17Bitmask;             // for the J17 Output
154
unsigned char Parameter_J17Timing;              // for the J17 Output
155
unsigned char Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 156
unsigned char Parameter_NaviGpsGain;
157
unsigned char Parameter_NaviGpsP;
158
unsigned char Parameter_NaviGpsI;
159
unsigned char Parameter_NaviGpsD;
160
unsigned char Parameter_NaviGpsACC;
993 hbuss 161
unsigned char Parameter_NaviOperatingRadius;
162
unsigned char Parameter_NaviWindCorrection;
163
unsigned char Parameter_NaviSpeedCompensation;
921 hbuss 164
unsigned char Parameter_ExternalControl;
1403 hbuss 165
unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
1668 holgerb 166
unsigned char CareFree = 0;
1760 holgerb 167
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};
1622 killagreg 168
 
492 hbuss 169
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
614 hbuss 170
int MaxStickNick = 0,MaxStickRoll = 0;
871 hbuss 171
unsigned int  modell_fliegt = 0;
1765 killagreg 172
volatile unsigned char FC_StatusFlags = 0;
1121 hbuss 173
long GIER_GRAD_FAKTOR = 1291;
1153 hbuss 174
signed int KopplungsteilNickRoll,KopplungsteilRollNick;
1209 hbuss 175
signed int tmp_motorwert[MAX_MOTORS];
1591 holgerb 176
char VarioCharacter = ' ';
177
 
1391 killagreg 178
#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
179
#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
180
#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
1155 hbuss 181
 
1622 killagreg 182
 
1639 holgerb 183
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
184
//  Debugwerte zuordnen
185
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
186
void CopyDebugValues(void)
187
{
188
    DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
189
    DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
190
    DebugOut.Analog[2] = Mittelwert_AccNick / 4;
191
    DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
1660 holgerb 192
    DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier;
1639 holgerb 193
    DebugOut.Analog[5] = HoehenWert/5;
1703 holgerb 194
    DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az;
1639 holgerb 195
    DebugOut.Analog[8] = KompassValue;
196
    DebugOut.Analog[9] = UBat;
197
    DebugOut.Analog[10] = SenderOkay;
198
    DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR;
1702 holgerb 199
    DebugOut.Analog[12] = Motor[0].SetPoint;
200
    DebugOut.Analog[13] = Motor[1].SetPoint;
201
    DebugOut.Analog[14] = Motor[2].SetPoint;
202
    DebugOut.Analog[15] = Motor[3].SetPoint;
1639 holgerb 203
    DebugOut.Analog[20] = ServoNickValue;
204
    DebugOut.Analog[22] = Capacity.ActualCurrent;
1833 - 205
        DebugOut.Analog[23] = Capacity.UsedCapacity;
206
        DebugOut.Analog[24] = Capacity.RemainCapacity;
1639 holgerb 207
//    DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ;
1682 holgerb 208
//    DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay;
209
        DebugOut.Analog[29] = Capacity.MinOfMaxPWM;
1639 holgerb 210
    DebugOut.Analog[30] = GPS_Nick;
211
    DebugOut.Analog[31] = GPS_Roll;
1702 holgerb 212
    if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe;
1760 holgerb 213
 
1787 holgerb 214
//if(Capacity.MinOfMaxPWM < 250/* && modell_fliegt > 500*/)  { beeptime = 1000; DebugOut.Analog[25]++; }
1639 holgerb 215
}
216
 
1760 holgerb 217
 
218
 
1232 hbuss 219
void Piep(unsigned char Anzahl, unsigned int dauer)
1 ingob 220
{
1232 hbuss 221
 if(MotorenEin) return; //auf keinen Fall im Flug!
1 ingob 222
 while(Anzahl--)
223
 {
1232 hbuss 224
  beeptime = dauer;
225
  while(beeptime);
226
  Delay_ms(dauer * 2);
1 ingob 227
 }
228
}
229
 
230
//############################################################################
1622 killagreg 231
// Messwerte beim Ermitteln der Nullage
232
void CalibrierMittelwert(void)
233
//############################################################################
234
{
235
    unsigned char i;
236
    if(PlatinenVersion == 13) SucheGyroOffset();
237
    // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
238
        ANALOG_OFF;
239
        MesswertNick = AdWertNick;
240
        MesswertRoll = AdWertRoll;
241
        MesswertGier = AdWertGier;
1703 holgerb 242
        Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick;
243
        Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll;
1622 killagreg 244
   // ADC einschalten
245
    ANALOG_ON;
246
   for(i=0;i<8;i++)
247
    {
248
     int tmp;
249
         tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
250
         LIMIT_MIN_MAX(tmp, 0, 255);
251
     if(Poti[i] > tmp) Poti[i]--;  else  if(Poti[i] < tmp) Poti[i]++;
252
        }
253
        Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
254
        Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
255
}
256
 
257
//############################################################################
1 ingob 258
//  Nullwerte ermitteln
1622 killagreg 259
void SetNeutral(unsigned char AccAdjustment)
1 ingob 260
//############################################################################
261
{
1622 killagreg 262
        unsigned char i;
263
        unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0;
1702 holgerb 264
    VersionInfo.HardwareError[0] = 0;
1320 hbuss 265
    HEF4017R_ON;
1051 killagreg 266
        NeutralAccX = 0;
1 ingob 267
        NeutralAccY = 0;
268
        NeutralAccZ = 0;
1622 killagreg 269
 
1051 killagreg 270
    AdNeutralNick = 0;
271
        AdNeutralRoll = 0;
1 ingob 272
        AdNeutralGier = 0;
1622 killagreg 273
 
395 hbuss 274
    Parameter_AchsKopplung1 = 0;
1120 hbuss 275
    Parameter_AchsKopplung2 = 0;
1622 killagreg 276
 
1036 hbuss 277
    ExpandBaro = 0;
1622 killagreg 278
 
1051 killagreg 279
    CalibrierMittelwert();
395 hbuss 280
    Delay_ms_Mess(100);
1622 killagreg 281
 
1 ingob 282
        CalibrierMittelwert();
1622 killagreg 283
 
1 ingob 284
    if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
1051 killagreg 285
     {
1 ingob 286
      if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
287
     }
1166 hbuss 288
#define NEUTRAL_FILTER 32
289
    for(i=0; i<NEUTRAL_FILTER; i++)
1111 hbuss 290
         {
291
          Delay_ms_Mess(10);
1216 killagreg 292
          gier_neutral += AdWertGier;
1166 hbuss 293
          nick_neutral += AdWertNick;
294
          roll_neutral += AdWertRoll;
1111 hbuss 295
         }
1173 hbuss 296
     AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
297
         AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
298
         AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
1622 killagreg 299
 
401 hbuss 300
     StartNeutralRoll = AdNeutralRoll;
301
     StartNeutralNick = AdNeutralNick;
1622 killagreg 302
 
303
     if(AccAdjustment)
304
     {
305
            NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
306
            NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
307
            NeutralAccZ = Aktuell_az;
308
 
309
                // Save ACC neutral settings to eeprom
1639 holgerb 310
                SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX);
311
                SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY);
1622 killagreg 312
                SetParamWord(PID_ACC_TOP,  (uint16_t)NeutralAccZ);
513 hbuss 313
    }
1051 killagreg 314
    else
513 hbuss 315
    {
1622 killagreg 316
                // restore from eeprom
317
                NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK);
318
                NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
319
                NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP);
320
                // strange settings?
1638 holgerb 321
                if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024))
1622 killagreg 322
                {
323
                        printf("\n\rACC not calibrated!\r\n");
324
                        NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
325
                        NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
326
                NeutralAccZ = Aktuell_az;
327
                }
513 hbuss 328
    }
1051 killagreg 329
 
1 ingob 330
    MesswertNick = 0;
331
    MesswertRoll = 0;
332
    MesswertGier = 0;
1111 hbuss 333
    Delay_ms_Mess(100);
1703 holgerb 334
    Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick;
335
    Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll;
1173 hbuss 336
    IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
337
    IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
338
    Mess_IntegralNick2 = IntegralNick;
339
    Mess_IntegralRoll2 = IntegralRoll;
340
    Mess_Integral_Gier = 0;
1 ingob 341
    StartLuftdruck = Luftdruck;
1253 killagreg 342
    VarioMeter = 0;
1 ingob 343
    Mess_Integral_Hoch = 0;
344
    KompassStartwert = KompassValue;
345
    GPS_Neutral();
1051 killagreg 346
    beeptime = 50;
882 hbuss 347
        Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L;
348
        Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L;
492 hbuss 349
    ExternHoehenValue = 0;
693 hbuss 350
    ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
351
    GierGyroFehler = 0;
723 hbuss 352
    SendVersionToNavi = 1;
921 hbuss 353
    LED_Init();
1765 killagreg 354
    FC_StatusFlags |= FC_STATUS_CALIBRATE;
992 hbuss 355
    FromNaviCtrl_Value.Kalman_K = -1;
1173 hbuss 356
    FromNaviCtrl_Value.Kalman_MaxDrift = 0;
992 hbuss 357
    FromNaviCtrl_Value.Kalman_MaxFusion = 32;
1391 killagreg 358
 
359
   for(i=0;i<8;i++)
1377 hbuss 360
    {
361
     Poti[i] =  PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
362
        }
1171 hbuss 363
    SenderOkay = 100;
1320 hbuss 364
    if(ServoActive)
365
         {
366
                HEF4017R_ON;
367
                DDRD  |=0x80; // enable J7 -> Servo signal
368
     }
1702 holgerb 369
 
1765 killagreg 370
        if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; };
371
        if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; };
372
        if((AdNeutralGier < 150 * 2)  || (AdNeutralGier > 850 * 2))  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; };
373
        if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; };
374
        if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; };
375
        if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; };
1 ingob 376
}
377
 
1702 holgerb 378
 
1 ingob 379
//############################################################################
395 hbuss 380
// Bearbeitet die Messwerte
1 ingob 381
void Mittelwert(void)
382
//############################################################################
1051 killagreg 383
{
1111 hbuss 384
    static signed long tmpl,tmpl2,tmpl3,tmpl4;
385
        static signed int oldNick, oldRoll, d2Roll, d2Nick;
1153 hbuss 386
        signed long winkel_nick, winkel_roll;
1829 - 387
//    unsigned char i;
1111 hbuss 388
        MesswertGier = (signed int) AdNeutralGier - AdWertGier;
1171 hbuss 389
    MesswertNick = (signed int) AdWertNickFilter / 8;
390
    MesswertRoll = (signed int) AdWertRollFilter / 8;
1153 hbuss 391
    RohMesswertNick = MesswertNick;
392
    RohMesswertRoll = MesswertRoll;
1166 hbuss 393
 
395 hbuss 394
// Beschleunigungssensor  ++++++++++++++++++++++++++++++++++++++++++++++++
1703 holgerb 395
        Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L;
396
        Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L;
395 hbuss 397
    IntegralAccNick += ACC_AMPLIFY * AdWertAccNick;
398
    IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll;
805 hbuss 399
    NaviAccNick    += AdWertAccNick;
400
    NaviAccRoll    += AdWertAccRoll;
401
    NaviCntAcc++;
1153 hbuss 402
    IntegralAccZ  += Aktuell_az - NeutralAccZ;
403
 
1155 hbuss 404
//++++++++++++++++++++++++++++++++++++++++++++++++
405
// ADC einschalten
1171 hbuss 406
    ANALOG_ON;
1155 hbuss 407
        AdReady = 0;
408
//++++++++++++++++++++++++++++++++++++++++++++++++
409
 
1216 killagreg 410
    if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L;
411
        else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L;
1153 hbuss 412
        else winkel_roll = Mess_IntegralRoll;
413
 
1216 killagreg 414
    if(Mess_IntegralNick > 93000L) winkel_nick = 93000L;
415
        else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L;
1153 hbuss 416
        else winkel_nick = Mess_IntegralNick;
417
 
1120 hbuss 418
// Gier  ++++++++++++++++++++++++++++++++++++++++++++++++
1153 hbuss 419
   Mess_Integral_Gier += MesswertGier;
420
   ErsatzKompass += MesswertGier;
395 hbuss 421
// Kopplungsanteil  +++++++++++++++++++++++++++++++++++++
422
      if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV))
423
         {
1153 hbuss 424
            tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
1120 hbuss 425
            tmpl3 *= Parameter_AchsKopplung2; //65
1111 hbuss 426
            tmpl3 /= 4096L;
1153 hbuss 427
            tmpl4 = (MesswertNick * winkel_roll) / 2048L;
1216 killagreg 428
            tmpl4 *= Parameter_AchsKopplung2; //65
1111 hbuss 429
            tmpl4 /= 4096L;
1153 hbuss 430
            KopplungsteilNickRoll = tmpl3;
431
            KopplungsteilRollNick = tmpl4;
1111 hbuss 432
            tmpl4 -= tmpl3;
433
            ErsatzKompass += tmpl4;
1166 hbuss 434
            if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen
1111 hbuss 435
 
1153 hbuss 436
            tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L;
1111 hbuss 437
            tmpl *= Parameter_AchsKopplung1;  // 90
880 hbuss 438
            tmpl /= 4096L;
1153 hbuss 439
            tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L;
395 hbuss 440
            tmpl2 *= Parameter_AchsKopplung1;
1662 killagreg 441
            tmpl2 /= 4096L;
1225 hbuss 442
            if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1;
1153 hbuss 443
            //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
395 hbuss 444
         }
1166 hbuss 445
      else  tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
1658 holgerb 446
                        TrimRoll = tmpl - tmpl2 / 100L;
447
                        TrimNick = -tmpl2 + tmpl / 100L;
1111 hbuss 448
// Kompasswert begrenzen  ++++++++++++++++++++++++++++++++++++++++++++++++
449
                    if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR;  // 360° Umschlag
450
                    if(ErsatzKompass < 0)                          ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
395 hbuss 451
// Roll  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 452
            Mess_IntegralRoll2 += MesswertRoll + TrimRoll;
453
            Mess_IntegralRoll +=  MesswertRoll + TrimRoll - LageKorrekturRoll;
1051 killagreg 454
            if(Mess_IntegralRoll > Umschlag180Roll)
395 hbuss 455
            {
882 hbuss 456
             Mess_IntegralRoll  = -(Umschlag180Roll - 25000L);
395 hbuss 457
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 458
            }
395 hbuss 459
            if(Mess_IntegralRoll <-Umschlag180Roll)
460
            {
882 hbuss 461
             Mess_IntegralRoll =  (Umschlag180Roll - 25000L);
395 hbuss 462
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 463
            }
395 hbuss 464
// Nick  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 465
            Mess_IntegralNick2 += MesswertNick + TrimNick;
466
            Mess_IntegralNick  += MesswertNick + TrimNick - LageKorrekturNick;
1051 killagreg 467
            if(Mess_IntegralNick > Umschlag180Nick)
882 hbuss 468
             {
469
              Mess_IntegralNick = -(Umschlag180Nick - 25000L);
470
              Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 471
             }
472
            if(Mess_IntegralNick <-Umschlag180Nick)
395 hbuss 473
            {
882 hbuss 474
             Mess_IntegralNick =  (Umschlag180Nick - 25000L);
395 hbuss 475
             Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 476
            }
1111 hbuss 477
 
1 ingob 478
    Integral_Gier  = Mess_Integral_Gier;
479
    IntegralNick = Mess_IntegralNick;
480
    IntegralRoll = Mess_IntegralRoll;
1051 killagreg 481
    IntegralNick2 = Mess_IntegralNick2;
1 ingob 482
    IntegralRoll2 = Mess_IntegralRoll2;
483
 
1166 hbuss 484
#define D_LIMIT 128
485
 
1171 hbuss 486
   MesswertNick = HiResNick / 8;
487
   MesswertRoll = HiResRoll / 8;
1166 hbuss 488
 
1167 hbuss 489
   if(AdWertNick < 15)   MesswertNick = -1000;  if(AdWertNick <  7)   MesswertNick = -2000;
490
   if(PlatinenVersion == 10)  { if(AdWertNick > 1010) MesswertNick = +1000;  if(AdWertNick > 1017) MesswertNick = +2000; }
491
   else  {  if(AdWertNick > 2000) MesswertNick = +1000;  if(AdWertNick > 2015) MesswertNick = +2000; }
492
   if(AdWertRoll < 15)   MesswertRoll = -1000;  if(AdWertRoll <  7)   MesswertRoll = -2000;
493
   if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000;  if(AdWertRoll > 1017) MesswertRoll = +2000; }
494
   else { if(AdWertRoll > 2000) MesswertRoll = +1000;  if(AdWertRoll > 2015) MesswertRoll = +2000;  }
495
 
1216 killagreg 496
  if(Parameter_Gyro_D)
1111 hbuss 497
  {
1166 hbuss 498
   d2Nick = HiResNick - oldNick;
499
   oldNick = (oldNick + HiResNick)/2;
1111 hbuss 500
   if(d2Nick > D_LIMIT) d2Nick = D_LIMIT;
501
   else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT;
1791 holgerb 502
 
1166 hbuss 503
   d2Roll = HiResRoll - oldRoll;
504
   oldRoll = (oldRoll + HiResRoll)/2;
1111 hbuss 505
   if(d2Roll > D_LIMIT) d2Roll = D_LIMIT;
506
   else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT;
1791 holgerb 507
 
508
   MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16;
1166 hbuss 509
   MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16;
510
   HiResNick += (d2Nick * (signed int) Parameter_Gyro_D);
511
   HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D);
1216 killagreg 512
  }
1111 hbuss 513
 
1166 hbuss 514
 if(RohMesswertRoll > 0) TrimRoll  += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
515
 else                    TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
516
 if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
517
 else                    TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
1153 hbuss 518
 
519
  if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
520
  {
521
    if(RohMesswertNick > 256)       MesswertNick += 1 * (RohMesswertNick - 256);
522
    else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
523
    if(RohMesswertRoll > 256)       MesswertRoll += 1 * (RohMesswertRoll - 256);
524
    else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256);
525
  }
1 ingob 526
}
527
 
528
//############################################################################
529
// Senden der Motorwerte per I2C-Bus
530
void SendMotorData(void)
531
//############################################################################
1051 killagreg 532
{
1209 hbuss 533
 unsigned char i;
921 hbuss 534
    if(!MotorenEin)
1 ingob 535
        {
1765 killagreg 536
         FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY);
1216 killagreg 537
                 for(i=0;i<MAX_MOTORS;i++)
538
                  {
539
                   if(!PC_MotortestActive)  MotorTest[i] = 0;
1638 holgerb 540
                   Motor[i].SetPoint = MotorTest[i];
541
                   Motor[i].SetPointLowerBits = 0;
542
/*
1760 holgerb 543
 Motor[i].SetPoint = MotorTest[i] / 4;            // testing the high resolution
544
 Motor[i].SetPointLowerBits = MotorTest[i] % 4;
1638 holgerb 545
*/
1216 killagreg 546
                  }
1212 hbuss 547
          if(PC_MotortestActive) PC_MotortestActive--;
1216 killagreg 548
        }
1765 killagreg 549
        else FC_StatusFlags |= FC_STATUS_MOTOR_RUN;
1744 holgerb 550
 
1765 killagreg 551
    if(I2C_TransferActive)
1744 holgerb 552
         {
1760 holgerb 553
          I2C_TransferActive = 0; // enable for the next time
1765 killagreg 554
         }
555
        else
1744 holgerb 556
    {
557
     motor_write = 0;
1760 holgerb 558
     I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode
1765 killagreg 559
        }
1 ingob 560
}
561
 
562
 
563
 
564
//############################################################################
565
// Trägt ggf. das Poti als Parameter ein
1051 killagreg 566
void ParameterZuordnung(void)
1 ingob 567
//############################################################################
568
{
1787 holgerb 569
 unsigned char tmp,i;
1391 killagreg 570
 #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
571
 #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
1787 holgerb 572
  for(i=0;i<8;i++)
573
    {
574
     int tmp2;
575
         tmp2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
576
         if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0;
577
     if(tmp2 != Poti[i])
578
          {
579
           Poti[i] += (tmp2 - Poti[i]) / 4;
580
       if(Poti[i] > tmp2) Poti[i]--;
581
           else Poti[i]++;
582
          }
583
        }
921 hbuss 584
 CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
585
 CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
586
 CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
587
 CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255);
588
 CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255);
1403 hbuss 589
 CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3);
590
 CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4);
591
 CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5);
1377 hbuss 592
 CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe);
1403 hbuss 593
 CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe);
1377 hbuss 594
 CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung);
595
 CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z);
596
 CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung);
597
 CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I);
598
 CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D);
599
 CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P);
600
 CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I);
601
 CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor);
602
 CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1);
603
 CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2);
604
 CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3);
605
 CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4);
606
 CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5);
607
 CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6);
608
 CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7);
609
 CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8);
610
 CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl);
611
 CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl);
612
 CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit);
1668 holgerb 613
 CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1);
614
 CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2);
1377 hbuss 615
 CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection);
616
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
617
 CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
618
 CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
1676 holgerb 619
 Ki = 10300 / (Parameter_I_Faktor + 1);
1 ingob 620
 MAX_GAS = EE_Parameter.Gas_Max;
1662 killagreg 621
 MIN_GAS = EE_Parameter.Gas_Min;
1668 holgerb 622
 
623
 tmp = EE_Parameter.OrientationModeControl;
1690 holgerb 624
 if(tmp > 50)
1668 holgerb 625
   {
1682 holgerb 626
#ifdef SWITCH_LEARNS_CAREFREE
627
    if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2;
628
#endif
629
        CareFree = 1;
1668 holgerb 630
    if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0;
1765 killagreg 631
    if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE;
1669 killagreg 632
   }
1668 holgerb 633
   else CareFree = 0;
634
 
1691 holgerb 635
 if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert
1690 holgerb 636
        {
637
         beeptime = 15000;
638
         BeepMuster = 0xA400;
639
         CareFree = 0;
1765 killagreg 640
    }
1702 holgerb 641
 
1668 holgerb 642
 if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;}
1 ingob 643
}
644
 
645
//############################################################################
646
//
647
void MotorRegler(void)
648
//############################################################################
649
{
1330 killagreg 650
         int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2;
1 ingob 651
         int GierMischanteil,GasMischanteil;
652
     static long sollGier = 0,tmp_long,tmp_long2;
395 hbuss 653
     static long IntegralFehlerNick = 0;
654
     static long IntegralFehlerRoll = 0;
1 ingob 655
         static unsigned int RcLostTimer;
656
         static unsigned char delay_neutral = 0;
657
         static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
1622 killagreg 658
         static unsigned char calibration_done = 0;
1 ingob 659
     static char NeueKompassRichtungMerken = 0;
395 hbuss 660
     static long ausgleichNick, ausgleichRoll;
1153 hbuss 661
     int IntegralNickMalFaktor,IntegralRollMalFaktor;
1209 hbuss 662
         unsigned char i;
1051 killagreg 663
        Mittelwert();
1 ingob 664
    GRN_ON;
1051 killagreg 665
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 666
// Gaswert ermitteln
1051 killagreg 667
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
668
        GasMischanteil = StickGas;
831 hbuss 669
    if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
1330 killagreg 670
 
1051 killagreg 671
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 672
// Empfang schlecht
1051 killagreg 673
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 674
   if(SenderOkay < 100)
675
        {
1051 killagreg 676
        if(RcLostTimer) RcLostTimer--;
677
        else
1 ingob 678
         {
679
          MotorenEin = 0;
1765 killagreg 680
          FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING;
1051 killagreg 681
         }
1 ingob 682
        ROT_ON;
693 hbuss 683
        if(modell_fliegt > 1000)  // wahrscheinlich in der Luft --> langsam absenken
1 ingob 684
            {
685
            GasMischanteil = EE_Parameter.NotGas;
1765 killagreg 686
            FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING;
744 hbuss 687
            PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
1051 killagreg 688
            PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
1 ingob 689
            PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
690
            PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
691
            PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
173 holgerb 692
            }
1 ingob 693
         else MotorenEin = 0;
694
        }
1051 killagreg 695
        else
696
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 697
// Emfang gut
1051 killagreg 698
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 699
        if(SenderOkay > 140)
700
            {
1765 killagreg 701
                        FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING;
1 ingob 702
            RcLostTimer = EE_Parameter.NotGasZeit * 50;
921 hbuss 703
            if(GasMischanteil > 40 && MotorenEin)
1 ingob 704
                {
705
                if(modell_fliegt < 0xffff) modell_fliegt++;
706
                }
871 hbuss 707
            if((modell_fliegt < 256))
1 ingob 708
                {
709
                SummeNick = 0;
710
                SummeRoll = 0;
1682 holgerb 711
                sollGier = 0;
712
                Mess_Integral_Gier = 0;
1051 killagreg 713
                if(modell_fliegt == 250)
918 hbuss 714
                 {
1051 killagreg 715
                  NeueKompassRichtungMerken = 1;
716
                 }
1765 killagreg 717
                } else FC_StatusFlags |= FC_STATUS_FLY;
1051 killagreg 718
 
595 hbuss 719
            if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0)
1 ingob 720
                {
1051 killagreg 721
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 722
// auf Nullwerte kalibrieren
1051 killagreg 723
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 724
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)  // Neutralwerte
725
                    {
726
                    if(++delay_neutral > 200)  // nicht sofort
727
                        {
728
                        GRN_OFF;
729
                        MotorenEin = 0;
730
                        delay_neutral = 0;
731
                        modell_fliegt = 0;
732
                        if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)
733
                        {
304 ingob 734
                         unsigned char setting=1;
1 ingob 735
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1;
736
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2;
737
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3;
738
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4;
739
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5;
1622 killagreg 740
                         SetActiveParamSet(setting);  // aktiven Datensatz merken
1 ingob 741
                        }
1051 killagreg 742
                         if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70)
743
                          {
819 hbuss 744
                           WinkelOut.CalcState = 1;
745
                           beeptime = 1000;
746
                          }
747
                          else
1 ingob 748
                          {
1622 killagreg 749
                               ParamSet_ReadFromEEProm(GetActiveParamSet());
1413 killagreg 750
                               LipoDetection(0);
1626 killagreg 751
                                                   LIBFC_ReceiverInit(EE_Parameter.Receiver);
819 hbuss 752
                           if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
753
                            {
1 ingob 754
                             if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
1051 killagreg 755
                            }
1330 killagreg 756
                                                   ServoActive = 0;
1622 killagreg 757
                           SetNeutral(0);
1765 killagreg 758
                           calibration_done = 1;
1232 hbuss 759
                                                   ServoActive = 1;
760
                                                   DDRD  |=0x80; // enable J7 -> Servo signal
1622 killagreg 761
                           Piep(GetActiveParamSet(),120);
819 hbuss 762
                         }
1051 killagreg 763
                        }
1 ingob 764
                    }
1051 killagreg 765
                 else
513 hbuss 766
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)  // ACC Neutralwerte speichern
767
                    {
768
                    if(++delay_neutral > 200)  // nicht sofort
769
                        {
770
                        GRN_OFF;
771
                        MotorenEin = 0;
772
                        delay_neutral = 0;
773
                        modell_fliegt = 0;
1622 killagreg 774
                        SetNeutral(1);
775
                        calibration_done = 1;
776
                        Piep(GetActiveParamSet(),120);
1051 killagreg 777
                        }
513 hbuss 778
                    }
1 ingob 779
                 else delay_neutral = 0;
780
                }
1051 killagreg 781
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 782
// Gas ist unten
1051 killagreg 783
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1760 holgerb 784
 
595 hbuss 785
            if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120)
1 ingob 786
                {
1521 killagreg 787
                                        // Motoren Starten
788
                                        if(!MotorenEin)
789
                        {
1760 holgerb 790
                                                if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0))
1521 killagreg 791
                                                {
1051 killagreg 792
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 793
// Einschalten
1051 killagreg 794
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1521 killagreg 795
                                                        if(++delay_einschalten > 200)
796
                                                        {
797
                                                                delay_einschalten = 0;
1702 holgerb 798
                                                                if(!VersionInfo.HardwareError[0] && calibration_done)
1622 killagreg 799
                                                                {
800
                                                                        modell_fliegt = 1;
801
                                                                        MotorenEin = 1;
802
                                                                        sollGier = 0;
803
                                                                        Mess_Integral_Gier = 0;
804
                                                                        Mess_Integral_Gier2 = 0;
805
                                                                        Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
806
                                                                        Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
807
                                                                        Mess_IntegralNick2 = IntegralNick;
808
                                                                        Mess_IntegralRoll2 = IntegralRoll;
809
                                                                        SummeNick = 0;
810
                                                                        SummeRoll = 0;
1765 killagreg 811
                                                                        FC_StatusFlags |= FC_STATUS_START;
1669 killagreg 812
                                                                        ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2;
1622 killagreg 813
                                                                }
814
                                                                else
815
                                                                {
816
                                                                        beeptime = 1500; // indicate missing calibration
817
                                                                }
1521 killagreg 818
                                                        }
819
                                                }
820
                                                else delay_einschalten = 0;
821
                                        }
1051 killagreg 822
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 823
// Auschalten
1051 killagreg 824
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1521 killagreg 825
                                        else // only if motors are running
826
                                        {
1760 holgerb 827
                                                if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0))
1521 killagreg 828
                                                {
829
                                                        if(++delay_ausschalten > 200)  // nicht sofort
830
                                                        {
831
                                                                MotorenEin = 0;
832
                                                                delay_ausschalten = 0;
833
                                                                modell_fliegt = 0;
834
                                                        }
835
                                                }
836
                                                else delay_ausschalten = 0;
837
                                        }
1 ingob 838
                }
839
            }
1051 killagreg 840
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 841
// neue Werte von der Funke
1051 killagreg 842
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 843
 
1765 killagreg 844
 if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
1 ingob 845
  {
604 hbuss 846
        static int stick_nick,stick_roll;
1 ingob 847
    ParameterZuordnung();
1051 killagreg 848
    stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4;
723 hbuss 849
    stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
850
    stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4;
851
    stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
852
 
1707 holgerb 853
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
854
// CareFree und freie Wahl der vorderen Richtung
855
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1668 holgerb 856
if(CareFree)
1658 holgerb 857
 {
1664 holgerb 858
    signed int nick, roll;
859
        nick = stick_nick / 4;
860
        roll = stick_roll / 4;
861
    StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4);
862
    StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4);
1658 holgerb 863
 }
1662 killagreg 864
 else
1658 holgerb 865
 {
1668 holgerb 866
        FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6];
867
        FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle];
868
    StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8;
869
    StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8;
1658 holgerb 870
 }
1662 killagreg 871
 
1 ingob 872
    StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
1120 hbuss 873
        if(StickGier > 2) StickGier -= 2;       else
874
        if(StickGier < -2) StickGier += 2; else StickGier = 0;
875
 
1658 holgerb 876
    StickNick -= (GPS_Nick + GPS_Nick2);
877
    StickRoll -= (GPS_Roll + GPS_Roll2);
1350 hbuss 878
        StickGas  = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120;
1330 killagreg 879
 
1153 hbuss 880
    GyroFaktor     = (Parameter_Gyro_P + 10.0);
881
    IntegralFaktor = Parameter_Gyro_I;
1322 hbuss 882
    GyroFaktorGier     = (Parameter_Gyro_Gier_P + 10.0);
883
    IntegralFaktorGier = Parameter_Gyro_Gier_I;
1 ingob 884
 
595 hbuss 885
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886
//+ Analoge Steuerung per Seriell
887
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
921 hbuss 888
   if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128)
595 hbuss 889
    {
890
         StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P;
891
         StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P;
892
         StickGier += ExternControl.Gier;
893
     ExternHoehenValue =  (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung;
894
     if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
895
    }
855 hbuss 896
    if(StickGas < 0) StickGas = 0;
1330 killagreg 897
 
1 ingob 898
    if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
723 hbuss 899
 
1051 killagreg 900
    if(abs(StickNick/STICK_GAIN) > MaxStickNick)
928 hbuss 901
     {
1051 killagreg 902
      MaxStickNick = abs(StickNick)/STICK_GAIN;
928 hbuss 903
      if(MaxStickNick > 100) MaxStickNick = 100;
1051 killagreg 904
     }
928 hbuss 905
     else MaxStickNick--;
1051 killagreg 906
    if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
928 hbuss 907
     {
1051 killagreg 908
      MaxStickRoll = abs(StickRoll)/STICK_GAIN;
928 hbuss 909
      if(MaxStickRoll > 100) MaxStickRoll = 100;
1051 killagreg 910
     }
928 hbuss 911
     else MaxStickRoll--;
1765 killagreg 912
    if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)  {MaxStickNick = 0; MaxStickRoll = 0;}
723 hbuss 913
 
1051 killagreg 914
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 915
// Looping?
1051 killagreg 916
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
993 hbuss 917
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS)  Looping_Links = 1;
1051 killagreg 918
  else
919
   {
395 hbuss 920
     {
1051 killagreg 921
      if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0;
922
     }
923
   }
993 hbuss 924
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1;
1051 killagreg 925
   else
395 hbuss 926
   {
927
   if(Looping_Rechts) // Hysterese
928
     {
929
      if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0;
930
     }
1051 killagreg 931
   }
173 holgerb 932
 
993 hbuss 933
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1;
1051 killagreg 934
  else
935
   {
395 hbuss 936
    if(Looping_Oben)  // Hysterese
937
     {
1051 killagreg 938
      if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0;
939
     }
940
   }
993 hbuss 941
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1;
1051 killagreg 942
   else
395 hbuss 943
   {
944
    if(Looping_Unten) // Hysterese
945
     {
946
      if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0;
947
     }
1051 killagreg 948
   }
395 hbuss 949
 
950
   if(Looping_Links || Looping_Rechts)   Looping_Roll = 1; else Looping_Roll = 0;
1153 hbuss 951
   if(Looping_Oben  || Looping_Unten) {  Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0;
395 hbuss 952
  } // Ende neue Funken-Werte
953
 
954
  if(Looping_Roll || Looping_Nick)
955
   {
173 holgerb 956
    if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
1153 hbuss 957
        TrichterFlug = 1;
173 holgerb 958
   }
959
 
1051 killagreg 960
 
961
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
962
// Bei Empfangsausfall im Flug
963
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1765 killagreg 964
   if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)
1 ingob 965
    {
966
     StickGier = 0;
967
     StickNick = 0;
968
     StickRoll = 0;
1211 hbuss 969
     GyroFaktor     = 90;
970
     IntegralFaktor = 120;
971
     GyroFaktorGier     = 90;
972
     IntegralFaktorGier = 120;
173 holgerb 973
     Looping_Roll = 0;
974
     Looping_Nick = 0;
1051 killagreg 975
    }
395 hbuss 976
 
977
 
1051 killagreg 978
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 979
// Integrale auf ACC-Signal abgleichen
1051 killagreg 980
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 981
#define ABGLEICH_ANZAHL 256L
982
 
983
 MittelIntegralNick  += IntegralNick;    // Für die Mittelwertbildung aufsummieren
984
 MittelIntegralRoll  += IntegralRoll;
985
 MittelIntegralNick2 += IntegralNick2;
986
 MittelIntegralRoll2 += IntegralRoll2;
987
 
988
 if(Looping_Nick || Looping_Roll)
989
  {
990
    IntegralAccNick = 0;
991
    IntegralAccRoll = 0;
992
    MittelIntegralNick = 0;
993
    MittelIntegralRoll = 0;
994
    MittelIntegralNick2 = 0;
995
    MittelIntegralRoll2 = 0;
996
    Mess_IntegralNick2 = Mess_IntegralNick;
997
    Mess_IntegralRoll2 = Mess_IntegralRoll;
998
    ZaehlMessungen = 0;
498 hbuss 999
    LageKorrekturNick = 0;
1000
    LageKorrekturRoll = 0;
395 hbuss 1001
  }
1002
 
1051 killagreg 1003
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1224 hbuss 1004
  if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
469 hbuss 1005
  {
1006
   long tmp_long, tmp_long2;
1171 hbuss 1007
   if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/)
992 hbuss 1008
     {
1009
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 1010
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
1011
      tmp_long  = (tmp_long  * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
1012
      tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
992 hbuss 1013
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
1014
      {
1015
      tmp_long  /= 2;
1016
      tmp_long2 /= 2;
1017
      }
1018
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
1019
      {
1020
      tmp_long  /= 3;
1021
      tmp_long2 /= 3;
1022
      }
1023
      if(tmp_long >  (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
1024
      if(tmp_long <  (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
1025
      if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
1026
      if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
1027
     }
1051 killagreg 1028
     else
992 hbuss 1029
     {
1030
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 1031
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
992 hbuss 1032
      tmp_long /= 16;
1033
      tmp_long2 /= 16;
1034
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
1035
      {
1036
      tmp_long  /= 3;
1037
      tmp_long2 /= 3;
1216 killagreg 1038
      }
1039
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
992 hbuss 1040
      {
1041
      tmp_long  /= 3;
1042
      tmp_long2 /= 3;
1043
      }
1155 hbuss 1044
 
1045
#define AUSGLEICH  32
992 hbuss 1046
      if(tmp_long >  AUSGLEICH)  tmp_long  = AUSGLEICH;
1047
      if(tmp_long < -AUSGLEICH)  tmp_long  =-AUSGLEICH;
1048
      if(tmp_long2 > AUSGLEICH)  tmp_long2 = AUSGLEICH;
1049
      if(tmp_long2 <-AUSGLEICH)  tmp_long2 =-AUSGLEICH;
1050
     }
1166 hbuss 1051
 
1111 hbuss 1052
   Mess_IntegralNick -= tmp_long;
1053
   Mess_IntegralRoll -= tmp_long2;
469 hbuss 1054
  }
1051 killagreg 1055
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1056
 if(ZaehlMessungen >= ABGLEICH_ANZAHL)
1057
 {
1058
  static int cnt = 0;
1059
  static char last_n_p,last_n_n,last_r_p,last_r_n;
1060
  static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt;
1173 hbuss 1061
  if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp)
173 holgerb 1062
  {
395 hbuss 1063
    MittelIntegralNick  /= ABGLEICH_ANZAHL;
1064
    MittelIntegralRoll  /= ABGLEICH_ANZAHL;
1065
        IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL;
1066
        IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
1067
    IntegralAccZ    = IntegralAccZ / ABGLEICH_ANZAHL;
1707 holgerb 1068
#define MAX_I 0
395 hbuss 1069
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
1070
    IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
1071
    ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich;
1051 killagreg 1072
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
1073
    IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
395 hbuss 1074
    ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
614 hbuss 1075
 
1076
    LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
498 hbuss 1077
    LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 1078
 
992 hbuss 1079
   if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1))
614 hbuss 1080
    {
1081
     LageKorrekturNick /= 2;
720 ingob 1082
     LageKorrekturRoll /= 2;
614 hbuss 1083
    }
498 hbuss 1084
 
1051 killagreg 1085
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1086
// Gyro-Drift ermitteln
1051 killagreg 1087
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1088
    MittelIntegralNick2 /= ABGLEICH_ANZAHL;
1089
    MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
1051 killagreg 1090
    tmp_long  = IntegralNick2 - IntegralNick;
1091
    tmp_long2 = IntegralRoll2 - IntegralRoll;
395 hbuss 1092
 
1093
    IntegralFehlerNick = tmp_long;
1094
    IntegralFehlerRoll = tmp_long2;
1095
    Mess_IntegralNick2 -= IntegralFehlerNick;
1096
    Mess_IntegralRoll2 -= IntegralFehlerRoll;
1097
 
1111 hbuss 1098
  if(EE_Parameter.Driftkomp)
1099
   {
1622 killagreg 1100
    if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; }
1101
    if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; }
1111 hbuss 1102
   }
693 hbuss 1103
    GierGyroFehler = 0;
720 ingob 1104
 
1243 killagreg 1105
#define FEHLER_LIMIT  (ABGLEICH_ANZAHL / 2)
1106
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
1225 hbuss 1107
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16
492 hbuss 1108
#define BEWEGUNGS_LIMIT 20000
395 hbuss 1109
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
1110
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 1111
        if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4;
1173 hbuss 1112
        if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1113
        {
1051 killagreg 1114
        if(IntegralFehlerNick >  FEHLER_LIMIT2)
395 hbuss 1115
         {
1051 killagreg 1116
           if(last_n_p)
395 hbuss 1117
           {
1173 hbuss 1118
            cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1119
            ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1120
            if(ausgleichNick > 5000) ausgleichNick = 5000;
498 hbuss 1121
            LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1122
           }
395 hbuss 1123
           else last_n_p = 1;
1124
         } else  last_n_p = 0;
1051 killagreg 1125
        if(IntegralFehlerNick < -FEHLER_LIMIT2)
395 hbuss 1126
         {
1127
           if(last_n_n)
1051 killagreg 1128
            {
1173 hbuss 1129
             cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1130
             ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1131
             if(ausgleichNick < -5000) ausgleichNick = -5000;
498 hbuss 1132
             LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1133
            }
395 hbuss 1134
           else last_n_n = 1;
1135
         } else  last_n_n = 0;
1051 killagreg 1136
        }
1137
        else
847 hbuss 1138
        {
1139
         cnt = 0;
921 hbuss 1140
         KompassSignalSchlecht = 1000;
1051 killagreg 1141
        }
499 hbuss 1142
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1143
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1144
        if(IntegralFehlerNick >  FEHLER_LIMIT)   AdNeutralNick += cnt;
1145
        if(IntegralFehlerNick < -FEHLER_LIMIT)   AdNeutralNick -= cnt;
401 hbuss 1146
 
395 hbuss 1147
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
1695 holgerb 1148
        cnt = 1;// + labs(IntegralFehlerRoll) / 4096;
1225 hbuss 1149
        if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4;
1173 hbuss 1150
        if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1151
        {
1051 killagreg 1152
        if(IntegralFehlerRoll >  FEHLER_LIMIT2)
395 hbuss 1153
         {
1051 killagreg 1154
           if(last_r_p)
395 hbuss 1155
           {
1173 hbuss 1156
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1157
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1158
            if(ausgleichRoll > 5000) ausgleichRoll = 5000;
498 hbuss 1159
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
1051 killagreg 1160
           }
395 hbuss 1161
           else last_r_p = 1;
1162
         } else  last_r_p = 0;
1051 killagreg 1163
        if(IntegralFehlerRoll < -FEHLER_LIMIT2)
395 hbuss 1164
         {
1051 killagreg 1165
           if(last_r_n)
395 hbuss 1166
           {
1173 hbuss 1167
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1168
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1169
            if(ausgleichRoll < -5000) ausgleichRoll = -5000;
498 hbuss 1170
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 1171
           }
1172
           else last_r_n = 1;
1173
         } else  last_r_n = 0;
1051 killagreg 1174
        } else
492 hbuss 1175
        {
1176
         cnt = 0;
921 hbuss 1177
         KompassSignalSchlecht = 1000;
1051 killagreg 1178
        }
499 hbuss 1179
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1180
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1181
        if(IntegralFehlerRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
1182
        if(IntegralFehlerRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
173 holgerb 1183
  }
1051 killagreg 1184
  else
498 hbuss 1185
  {
1186
   LageKorrekturRoll = 0;
1187
   LageKorrekturNick = 0;
880 hbuss 1188
   TrichterFlug = 0;
498 hbuss 1189
  }
1051 killagreg 1190
 
498 hbuss 1191
  if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
1051 killagreg 1192
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
1193
   MittelIntegralNick_Alt = MittelIntegralNick;
1194
   MittelIntegralRoll_Alt = MittelIntegralRoll;
1195
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1196
    IntegralAccNick = 0;
1197
    IntegralAccRoll = 0;
1198
    IntegralAccZ = 0;
1199
    MittelIntegralNick = 0;
1200
    MittelIntegralRoll = 0;
1201
    MittelIntegralNick2 = 0;
1202
    MittelIntegralRoll2 = 0;
1203
    ZaehlMessungen = 0;
1173 hbuss 1204
 } //  ZaehlMessungen >= ABGLEICH_ANZAHL
395 hbuss 1205
 
1051 killagreg 1206
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1207
//  Gieren
1051 killagreg 1208
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1209
    if(abs(StickGier) > 15) // war 35
1 ingob 1210
     {
921 hbuss 1211
      KompassSignalSchlecht = 1000;
1051 killagreg 1212
      if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX))
1213
       {
1214
         NeueKompassRichtungMerken = 1;
824 hbuss 1215
        };
1 ingob 1216
     }
395 hbuss 1217
    tmp_int  = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo  y = ax + bx²
1051 killagreg 1218
    tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
173 holgerb 1219
    sollGier = tmp_int;
1051 killagreg 1220
    Mess_Integral_Gier -= tmp_int;
395 hbuss 1221
    if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000;  // begrenzen
1222
    if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
1051 killagreg 1223
 
1224
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1225
//  Kompass
1051 killagreg 1226
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1227
    if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
1 ingob 1228
     {
819 hbuss 1229
       int w,v,r,fehler,korrektur;
1 ingob 1230
       w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
1231
       v = abs(IntegralRoll /512);
1232
       if(v > w) w = v; // grösste Neigung ermitteln
1658 holgerb 1233
       korrektur = w / 8 + 2;
921 hbuss 1234
       fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180;
1664 holgerb 1235
           //fehler += MesswertGier / 12;
1662 killagreg 1236
 
921 hbuss 1237
       if(!KompassSignalSchlecht && w < 25)
1238
        {
1239
        GierGyroFehler += fehler;
1051 killagreg 1240
        if(NeueKompassRichtungMerken)
1241
         {
1171 hbuss 1242
                  ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
921 hbuss 1243
          KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR);
1244
          NeueKompassRichtungMerken = 0;
1245
         }
1 ingob 1246
        }
1658 holgerb 1247
       ErsatzKompass += (fehler * 16) / korrektur;
921 hbuss 1248
       w = (w * Parameter_KompassWirkung) / 32;           // auf die Wirkung normieren
1 ingob 1249
       w = Parameter_KompassWirkung - w;                  // Wirkung ggf drosseln
921 hbuss 1250
       if(w >= 0)
1 ingob 1251
        {
1051 killagreg 1252
          if(!KompassSignalSchlecht)
693 hbuss 1253
          {
1051 killagreg 1254
           v = 64 + ((MaxStickNick + MaxStickRoll)) / 8;
847 hbuss 1255
           r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180;
819 hbuss 1256
           v = (r * w) / v;  // nach Kompass ausrichten
1257
           w = 3 * Parameter_KompassWirkung;
693 hbuss 1258
           if(v > w) v = w; // Begrenzen
1051 killagreg 1259
           else
693 hbuss 1260
           if(v < -w) v = -w;
1261
           Mess_Integral_Gier += v;
1051 killagreg 1262
          }
693 hbuss 1263
          if(KompassSignalSchlecht) KompassSignalSchlecht--;
1051 killagreg 1264
        }
921 hbuss 1265
        else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek
1051 killagreg 1266
     }
1 ingob 1267
 
1051 killagreg 1268
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1269
//  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
1051 killagreg 1270
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1271
  if(TrichterFlug)  { SummeRoll = 0; SummeNick = 0;};
604 hbuss 1272
 
1171 hbuss 1273
  if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
1274
  if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
1153 hbuss 1275
 
1167 hbuss 1276
#define TRIM_MAX 200
1166 hbuss 1277
 if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else  if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
1278
 if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else  if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
1153 hbuss 1279
 
1166 hbuss 1280
    MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
1281
    MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
1211 hbuss 1282
    MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
1166 hbuss 1283
 
1 ingob 1284
    // Maximalwerte abfangen
1153 hbuss 1285
//    #define MAX_SENSOR  (4096*STICK_GAIN)
1685 holgerb 1286
    #define MAX_SENSOR  (4096)
1216 killagreg 1287
    if(MesswertNick >  MAX_SENSOR) MesswertNick =  MAX_SENSOR;
1 ingob 1288
    if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
1289
    if(MesswertRoll >  MAX_SENSOR) MesswertRoll =  MAX_SENSOR;
1290
    if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
1291
    if(MesswertGier >  MAX_SENSOR) MesswertGier =  MAX_SENSOR;
1292
    if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
1293
 
1051 killagreg 1294
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1295
// Höhenregelung
1296
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
1051 killagreg 1297
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1374 hbuss 1298
  if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
855 hbuss 1299
  GasMischanteil *= STICK_GAIN;
1309 hbuss 1300
        // if height control is activated
1322 hbuss 1301
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick))  // Höhenregelung
1309 hbuss 1302
        {
1698 holgerb 1303
                #define HOVER_GAS_AVERAGE 16384L                // 16384 * 2ms = 32s averaging
1332 hbuss 1304
                #define HC_GAS_AVERAGE 4                        // 4 * 2ms= 8ms averaging
1638 holgerb 1305
 
1306
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
1307
#define OPA_OFFSET_STEP 15
1642 killagreg 1308
#else
1638 holgerb 1309
#define OPA_OFFSET_STEP 10
1310
#endif
1697 holgerb 1311
                int HCGas, HeightDeviation = 0,GasReduction = 0;
1309 hbuss 1312
                static int HeightTrimming = 0;  // rate for change of height setpoint
1313
                static int FilterHCGas = 0;
1692 holgerb 1314
                static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023;
1587 killagreg 1315
                static unsigned long HoverGasFilter = 0;
1322 hbuss 1316
                static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
1320 hbuss 1317
            int CosAttitude;    // for projection of hoover gas
1330 killagreg 1318
 
1309 hbuss 1319
                // get the current hooverpoint
1587 killagreg 1320
                DebugOut.Analog[21] = HoverGas;
1642 killagreg 1321
 
1322 hbuss 1322
        // Expand the measurement
1323
                // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
1324
          if(!BaroExpandActive)
1325
                   {
1326
                        if(MessLuftdruck > 920)
1327
                        {   // increase offset
1330 killagreg 1328
             if(OCR0A < (255 - OPA_OFFSET_STEP))
1322 hbuss 1329
                           {
1330
                                ExpandBaro -= 1;
1331
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
1332
                                beeptime = 300;
1352 hbuss 1333
                                BaroExpandActive = 350;
1330 killagreg 1334
                           }
1335
                           else
1322 hbuss 1336
                           {
1337
                            BaroAtLowerLimit = 1;
1338
               }
1339
                        }
1340
                        // measurement of air pressure close to lower limit and
1330 killagreg 1341
                        else
1322 hbuss 1342
                        if(MessLuftdruck < 100)
1343
                        {   // decrease offset
1330 killagreg 1344
                          if(OCR0A > OPA_OFFSET_STEP)
1322 hbuss 1345
                           {
1346
                                ExpandBaro += 1;
1347
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
1348
                                beeptime = 300;
1352 hbuss 1349
                                BaroExpandActive = 350;
1330 killagreg 1350
                           }
1351
                           else
1322 hbuss 1352
                           {
1353
                            BaroAtUpperLimit = 1;
1354
               }
1355
                        }
1330 killagreg 1356
                        else
1322 hbuss 1357
                        {
1358
                            BaroAtUpperLimit = 0;
1359
                                BaroAtLowerLimit = 0;
1360
                        }
1361
                   }
1362
                   else // delay, because of expanding the Baro-Range
1363
                   {
1364
                    // now clear the D-values
1365
                          SummenHoehe = HoehenWert * SM_FILTER;
1366
                          VarioMeter = 0;
1367
                          BaroExpandActive--;
1368
                   }
1328 hbuss 1369
 
1370
                // if height control is activated by an rc channel
1371
        if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)  // Regler wird über Schalter gesteuert
1372
                {       // check if parameter is less than activation threshold
1373
                        if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position
1374
                        {   //height control not active
1375
                                if(!delay--)
1376
                                {
1377
                                        HoehenReglerAktiv = 0; // disable height control
1378
                                        SollHoehe = HoehenWert;  // update SetPoint with current reading
1379
                                        delay = 1;
1380
                                }
1381
                        }
1382
                        else
1383
                        {       //height control is activated
1384
                                HoehenReglerAktiv = 1; // enable height control
1334 killagreg 1385
                                delay = 200;
1328 hbuss 1386
                        }
1051 killagreg 1387
                }
1309 hbuss 1388
                else // no switchable height control
1389
                {
1390
                        SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung;
1391
                        HoehenReglerAktiv = 1;
1051 killagreg 1392
                }
1322 hbuss 1393
 
1320 hbuss 1394
                // calculate cos of nick and roll angle used for projection of the vertical hoover gas
1330 killagreg 1395
                tmp_int  = (int)(IntegralNick/GIER_GRAD_FAKTOR);  // nick angle in deg
1396
                tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR);  // roll angle in deg
1397
                CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
1320 hbuss 1398
                LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
1399
                CosAttitude = c_cos_8192(CosAttitude);  // cos of actual attitude
1591 holgerb 1400
                VarioCharacter = ' ';
1765 killagreg 1401
                if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
1309 hbuss 1402
                {
1330 killagreg 1403
                        #define HEIGHT_CONTROL_STICKTHRESHOLD 15
1309 hbuss 1404
                // Holger original version
1405
                // start of height control algorithm
1406
                // the height control is only an attenuation of the actual gas stick.
1407
                // I.e. it will work only if the gas stick is higher than the hover gas
1408
                // and the hover height will be allways larger than height setpoint.
1314 killagreg 1409
        if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER))  // Regler wird über Schalter gesteuert)
1410
              {  // old version
1309 hbuss 1411
                        HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
1412
                        HeightTrimming = 0;
1773 killagreg 1413
                        // set both flags to indicate no vario mode
1414
                        FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
1309 hbuss 1415
          }
1314 killagreg 1416
                  else
1309 hbuss 1417
                  {
1418
                // alternative height control
1419
                // PD-Control with respect to hoover point
1420
                // the thrust loss out of horizontal attitude is compensated
1421
                // the setpoint will be fine adjusted with the gas stick position
1765 killagreg 1422
                        if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying
1309 hbuss 1423
                        {   // gas stick is above hoover point
1587 killagreg 1424
                                if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
1309 hbuss 1425
                                {
1767 killagreg 1426
                                        if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN)
1309 hbuss 1427
                                        {
1767 killagreg 1428
                                                FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;
1309 hbuss 1429
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1430
                                        }
1767 killagreg 1431
                                        FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP;
1587 killagreg 1432
                                        HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));
1591 holgerb 1433
                                        VarioCharacter = '+';
1309 hbuss 1434
                                } // gas stick is below hoover point
1587 killagreg 1435
                                else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )
1309 hbuss 1436
                                {
1767 killagreg 1437
                                        if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP)
1309 hbuss 1438
                                        {
1767 killagreg 1439
                                                FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;
1309 hbuss 1440
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1441
                                        }
1767 killagreg 1442
                                        FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN;
1587 killagreg 1443
                                        HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
1591 holgerb 1444
                                        VarioCharacter = '-';
1309 hbuss 1445
                                }
1587 killagreg 1446
                                else // Gas Stick in Hover Range
1309 hbuss 1447
                                {
1767 killagreg 1448
                                        if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN))
1309 hbuss 1449
                                        {
1767 killagreg 1450
                                                FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
1309 hbuss 1451
                                                HeightTrimming = 0;
1452
                                                SollHoehe = HoehenWert; // update setpoint to current height
1453
                                                if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500;
1698 holgerb 1454
                                                if(!StartTrigger && HoehenWert > 50)
1455
                                                {
1456
                                                 StartTrigger = 1;
1765 killagreg 1457
                                                }
1309 hbuss 1458
                                        }
1591 holgerb 1459
                                        VarioCharacter = '=';
1309 hbuss 1460
                                }
1461
                                // Trim height set point
1334 killagreg 1462
                                if(abs(HeightTrimming) > 512)
1309 hbuss 1463
                                {
1332 hbuss 1464
                                        SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint
1309 hbuss 1465
                                        HeightTrimming = 0;
1587 killagreg 1466
                    LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied
1720 holgerb 1467
                                        if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100;
1320 hbuss 1468
                                        //update hoover gas stick value when setpoint is shifted
1332 hbuss 1469
                       if(!EE_Parameter.Hoehe_StickNeutralPoint)
1470
                       {
1587 killagreg 1471
                           StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value
1472
                           StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning;
1473
                           if(StickGasHover < 70) StickGasHover = 70;
1474
                           else if(StickGasHover > 150) StickGasHover = 150;
1332 hbuss 1475
                       }
1309 hbuss 1476
                                }
1352 hbuss 1477
              if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active
1420 killagreg 1478
                        } //if FCFlags & MKFCFLAG_FLY
1330 killagreg 1479
                        else
1480
                        {
1322 hbuss 1481
                         SollHoehe = HoehenWert - 400;
1587 killagreg 1482
                         if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
1483
                         else StickGasHover = 120;
1698 holgerb 1484
                         HoverGas = GasMischanteil;
1320 hbuss 1485
                         }
1590 killagreg 1486
                        HCGas = HoverGas;      // take hover gas (neutral point)
1487
                   }
1314 killagreg 1488
         if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT))
1283 hbuss 1489
                 {
1590 killagreg 1490
                        // from this point the Heigth Control Algorithm is identical for both versions
1491
                        if(BaroExpandActive) // baro range expanding active
1492
                        {
1493
                                HCGas = HoverGas; // hover while expanding baro adc range
1494
                                HeightDeviation = 0;
1495
                        } // EOF // baro range expanding active
1496
                        else // valid data from air pressure sensor
1497
                        {
1498
                                // ------------------------- P-Part ----------------------------
1499
                                tmp_long = (HoehenWert - SollHoehe); // positive when too high
1500
                                LIMIT_MIN_MAX(tmp_long, -32767L, 32767L);       // avoid overflov when casting to int16_t
1501
                                HeightDeviation = (int)(tmp_long); // positive when too high
1695 holgerb 1502
                                tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part
1698 holgerb 1503
                                LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense
1504
                                GasReduction = tmp_long;
1590 killagreg 1505
                                // ------------------------- D-Part 1: Vario Meter ----------------------------
1506
                                tmp_int = VarioMeter / 8;
1765 killagreg 1507
                                LIMIT_MIN_MAX(tmp_int, -127, 128);
1705 holgerb 1508
                                tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter
1509
                                LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN);
1767 killagreg 1510
                                if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint
1765 killagreg 1511
                                else
1722 holgerb 1512
                                if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode
1698 holgerb 1513
                                GasReduction += tmp_int;
1590 killagreg 1514
                        } // EOF no baro range expanding
1309 hbuss 1515
                        // ------------------------ D-Part 2: ACC-Z Integral  ------------------------
1698 holgerb 1516
            if(Parameter_Hoehe_ACC_Wirkung)
1517
                         {
1518
                          tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN);
1519
                          LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN);
1520
                          GasReduction += tmp_long;
1765 killagreg 1521
                         }
1587 killagreg 1522
                        // ------------------------ D-Part 3: GpsZ  ----------------------------------
1588 killagreg 1523
                        tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L;
1524
            LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN);
1698 holgerb 1525
                        GasReduction += tmp_int;
1701 holgerb 1526
            GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value
1527
                        // ------------------------                  ----------------------------------
1528
                        HCGas -= GasReduction;
1309 hbuss 1529
                        // limit deviation from hoover point within the target region
1692 holgerb 1530
                        if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero
1309 hbuss 1531
                        {
1765 killagreg 1532
                         unsigned int tmp;
1705 holgerb 1533
                         tmp = abs(HeightDeviation);
1534
                         if(tmp <= 60)
1535
                         {
1536
                          LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point
1537
                         }
1538
                         else
1765 killagreg 1539
                         {
1705 holgerb 1540
                                tmp = (tmp - 60) / 32;
1692 holgerb 1541
                                if(tmp > 15) tmp = 15;
1705 holgerb 1542
                           if(HeightDeviation > 0)
1693 holgerb 1543
                                {
1705 holgerb 1544
                                tmp = (HoverGasMin * (16 - tmp)) / 16;
1545
                                LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point
1693 holgerb 1546
                                }
1705 holgerb 1547
                                else
1548
                                {
1549
                                tmp = (HoverGasMax * (tmp + 16)) / 16;
1550
                                LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point
1551
                                }
1552
                          }
1309 hbuss 1553
                        }
1322 hbuss 1554
                        // strech control output by inverse attitude projection 1/cos
1555
            // + 1/cos(angle)  ++++++++++++++++++++++++++
1330 killagreg 1556
                        tmp_long2 = (int32_t)HCGas;
1557
                        tmp_long2 *= 8192L;
1558
                        tmp_long2 /= CosAttitude;
1559
                        HCGas = (int16_t)tmp_long2;
1309 hbuss 1560
                        // update height control gas averaging
1561
                        FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
1562
                        // limit height control gas pd-control output
1563
                        LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
1564
                        // set GasMischanteil to HeightControlGasFilter
1314 killagreg 1565
            if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)
1587 killagreg 1566
                        {  // old version
1567
                                LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas
1719 holgerb 1568
                                GasMischanteil = FilterHCGas;
1765 killagreg 1569
                        }
1719 holgerb 1570
                        else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode
1314 killagreg 1571
                  }
1309 hbuss 1572
                }// EOF height control active
1320 hbuss 1573
                else // HC not active
1574
                {
1575
                        //update hoover gas stick value when HC is not active
1587 killagreg 1576
                        if(!EE_Parameter.Hoehe_StickNeutralPoint)
1577
                        {
1578
                                StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value
1579
                                StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning;
1322 hbuss 1580
                        }
1587 killagreg 1581
                        else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
1582
            LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down
1328 hbuss 1583
                        FilterHCGas = GasMischanteil;
1773 killagreg 1584
                        // set both flags to indicate no vario mode
1585
                        FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
1330 killagreg 1586
                }
1283 hbuss 1587
 
1587 killagreg 1588
                // Hover gas estimation by averaging gas control output on small z-velocities
1309 hbuss 1589
                // this is done only if height contol option is selected in global config and aircraft is flying
1765 killagreg 1590
                if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING))
1309 hbuss 1591
                {
1698 holgerb 1592
                        if(HoverGasFilter == 0 || StartTrigger == 1)  HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
1593
                        if(StartTrigger == 1) StartTrigger = 2;
1330 killagreg 1594
                                tmp_long2 = (int32_t)GasMischanteil; // take current thrust
1595
                                tmp_long2 *= CosAttitude;            // apply attitude projection
1596
                                tmp_long2 /= 8192;
1309 hbuss 1597
                                // average vertical projected thrust
1698 holgerb 1598
                            if(modell_fliegt < 4000) // the first 8 seconds
1599
                                {   // reduce the time constant of averaging by factor of 4 to get much faster a stable value
1600
                                        HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L);
1601
                                        HoverGasFilter += 16L * tmp_long2;
1309 hbuss 1602
                                }
1698 holgerb 1603
                if(modell_fliegt < 8000) // the first 16 seconds
1604
                                {   // reduce the time constant of averaging by factor of 2 to get much faster a stable value
1590 killagreg 1605
                                        HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L);
1587 killagreg 1606
                                        HoverGasFilter += 4L * tmp_long2;
1309 hbuss 1607
                                }
1698 holgerb 1608
                          else //later
1609
                          if(abs(VarioMeter) < 100) // only on small vertical speed
1309 hbuss 1610
                                {
1590 killagreg 1611
                                        HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE;
1587 killagreg 1612
                                        HoverGasFilter += tmp_long2;
1309 hbuss 1613
                                }
1590 killagreg 1614
                                HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE);
1309 hbuss 1615
                                if(EE_Parameter.Hoehe_HoverBand)
1616
                                {
1617
                                        int16_t band;
1587 killagreg 1618
                                        band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
1619
                                        HoverGasMin = HoverGas - band;
1620
                                        HoverGasMax = HoverGas + band;
1309 hbuss 1621
                                }
1622
                                else
1623
                                {       // no limit
1587 killagreg 1624
                                        HoverGasMin = 0;
1625
                                        HoverGasMax = 1023;
1309 hbuss 1626
                                }
1765 killagreg 1627
                }
1628
                 else
1698 holgerb 1629
                  {
1630
                   StartTrigger = 0;
1631
                   HoverGasFilter = 0;
1632
                   HoverGas = 0;
1765 killagreg 1633
                  }
1309 hbuss 1634
        }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL
1773 killagreg 1635
        else
1636
        {
1637
                // set undefined state to indicate vario off
1638
                FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
1639
        } // EOF no height control
1640
 
1309 hbuss 1641
        // limit gas to parameter setting
1320 hbuss 1642
  LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
855 hbuss 1643
  if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
1111 hbuss 1644
 
1051 killagreg 1645
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1320 hbuss 1646
// all BL-Ctrl connected?
1647
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1675 holgerb 1648
  if(MissingMotor || Capacity.MinOfMaxPWM != 255)
1320 hbuss 1649
  if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0)
1650
   {
1651
    modell_fliegt = 1;
1675 holgerb 1652
        GasMischanteil = (MIN_GAS + 10) * STICK_GAIN;
1320 hbuss 1653
   }
1654
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1655
// + Mischer und PI-Regler
1051 killagreg 1656
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 1657
  DebugOut.Analog[7] = GasMischanteil;
1051 killagreg 1658
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1659
// Gier-Anteil
1051 killagreg 1660
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
855 hbuss 1661
    GierMischanteil = MesswertGier - sollGier * STICK_GAIN;     // Regler für Gier
1662
#define MIN_GIERGAS  (40*STICK_GAIN)  // unter diesem Gaswert trotzdem Gieren
693 hbuss 1663
   if(GasMischanteil > MIN_GIERGAS)
1664
    {
1051 killagreg 1665
     if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
1666
     if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
693 hbuss 1667
    }
1051 killagreg 1668
    else
693 hbuss 1669
    {
1051 killagreg 1670
     if(GierMischanteil > (MIN_GIERGAS / 2))  GierMischanteil = MIN_GIERGAS / 2;
1671
     if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2);
693 hbuss 1672
    }
855 hbuss 1673
    tmp_int = MAX_GAS*STICK_GAIN;
1051 killagreg 1674
    if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil));
855 hbuss 1675
    if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil));
513 hbuss 1676
 
1051 killagreg 1677
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1678
// Nick-Achse
1051 killagreg 1679
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
723 hbuss 1680
    DiffNick = MesswertNick - StickNick;        // Differenz bestimmen
1153 hbuss 1681
    if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung
1051 killagreg 1682
    else  SummeNick += DiffNick; // I-Anteil bei HH
855 hbuss 1683
    if(SummeNick >  (STICK_GAIN * 16000L)) SummeNick =  (STICK_GAIN * 16000L);
1684
    if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN);
1791 holgerb 1685
 
1686
    if(EE_Parameter.Gyro_Stability <= 8)        pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick
1687
    else                                                                        pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern
1688
    pd_ergebnis_nick +=  SummeNick / Ki;
1689
 
1676 holgerb 1690
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153 hbuss 1691
    if(pd_ergebnis_nick >  tmp_int) pd_ergebnis_nick =  tmp_int;
1692
    if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
173 holgerb 1693
 
1153 hbuss 1694
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1695
// Roll-Achse
1696
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1697
        DiffRoll = MesswertRoll - StickRoll;    // Differenz bestimmen
1698
    if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
1699
    else                 SummeRoll += DiffRoll;  // I-Anteil bei HH
1700
    if(SummeRoll >  (STICK_GAIN * 16000L)) SummeRoll =  (STICK_GAIN * 16000L);
1701
    if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
1791 holgerb 1702
 
1703
    if(EE_Parameter.Gyro_Stability <= 8)        pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8;        // PI-Regler für Roll
1704
        else                                                                    pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4;  // Überlauf verhindern
1705
    pd_ergebnis_roll += SummeRoll / Ki;
1706
 
1676 holgerb 1707
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153 hbuss 1708
    if(pd_ergebnis_roll >  tmp_int) pd_ergebnis_roll =  tmp_int;
1709
    if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
1710
 
1711
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1209 hbuss 1712
// Universal Mixer
1155 hbuss 1713
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1642 killagreg 1714
        for(i=0; i<MAX_MOTORS; i++)
1715
        {
1716
                signed int tmp_int;
1717
                if(Mixer.Motor[i][0] > 0)
1718
                {
1652 holgerb 1719
                        // Gas
1676 holgerb 1720
                        if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int =  ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
1652 holgerb 1721
                        // Nick
1722
                        if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick;
1723
                        else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick;
1724
                        else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
1725
            // Roll
1726
                        if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll;
1727
                        else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll;
1728
                        else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
1729
            // Gier
1676 holgerb 1730
                        if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil;
1731
                        else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil;
1732
                        else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
1675 holgerb 1733
 
1680 holgerb 1734
                        if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2;      // MotorSmoothing
1735
                        else tmp_int = 2 * tmp_int - tmp_motorwert[i];                                                              // MotorSmoothing
1693 holgerb 1736
 
1760 holgerb 1737
                        LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4);
1676 holgerb 1738
                        Motor[i].SetPoint = tmp_int / 4;
1677 killagreg 1739
                        Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total)
1652 holgerb 1740
            tmp_motorwert[i] = tmp_int;
1642 killagreg 1741
                }
1742
                else
1743
                {
1744
                        Motor[i].SetPoint = 0;
1745
                        Motor[i].SetPointLowerBits = 0;
1746
                }
1747
        }
1111 hbuss 1748
}