WebSVN - FlightCtrl - Blame - Rev 2737

Rev	Author	Line No.	Line
1	ingob	1	/*#######################################################################################
		2	Flight Control
		3	#######################################################################################*/
		4	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		5	// + www.MikroKopter.com
		6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050	holgerb	7	// + Software Nutzungsbedingungen (english version: see below)
		8	// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
		9	// + Der Lizenzgeber r�umt dem Kunden ein nicht-ausschlie�liches, zeitlich und r�umlich* unbeschr�nktes Recht ein, die im den
		10	// + Mikrocontroller verwendete Firmware f�r die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool
		11	// + - nachfolgend Software genannt - nur f�r private Zwecke zu nutzen.
		12	// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zul�ssig.
1	ingob	13	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050	holgerb	14	// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich gesch�tzt. Alle Rechte an der Software sowie an sonstigen im
		15	// + Rahmen der Vertragsanbahnung und Vertragsdurchf�hrung �berlassenen Unterlagen stehen im Verh�ltnis der Vertragspartner ausschlie�lich dem Lizenzgeber zu.
		16	// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
		17	// + sonstige der Programmidentifikation dienenden Merkmale d�rfen vom Kunden nicht ver�ndert oder unkenntlich gemacht werden.
		18	// + Der Kunde trifft angemessene Vorkehrungen f�r den sicheren Einsatz der Software. Er wird die Software gr�ndlich auf deren
		19	// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
		20	// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zul�ssig - begrenzt in H�he des typischen und vorhersehbaren
		21	// + Schadens. Die gesetzliche Haftung bei Personensch�den und nach dem Produkthaftungsgesetz bleibt unber�hrt. Dem Lizenzgeber steht jedoch der Einwand
		22	// + des Mitverschuldens offen.
		23	// + Der Kunde trifft angemessene Vorkehrungen f�r den Fall, dass die Software ganz oder teilweise nicht ordnungsgem�� arbeitet.
		24	// + Er wird die Software gr�ndlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
		25	// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
		26	// + Der Kunde ist dar�ber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchf�hrung erforderlichen Umfang
		27	// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte �bermittelt.
		28	// + *) Die r�umliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
		29	// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
		30	// + Hinweis: Informationen �ber erweiterte Nutzungsrechte (wie z.B. Nutzung f�r nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verf�gbar.
1	ingob	31	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050	holgerb	32	// + Software LICENSING TERMS
1	ingob	33	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050	holgerb	34	// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
		35	// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware
		36	// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
		37	// + The Software may only be used with the Licensor's products.
		38	// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
		39	// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
		40	// + agreement shall be the property of the Licensor.
		41	// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
		42	// + features that can be used to identify the program may not be altered or defaced by the customer.
		43	// + The customer shall be responsible for taking reasonable precautions
		44	// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
		45	// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
		46	// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
		47	// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
		48	// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
		49	// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
		50	// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
		51	// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
		52	// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
		53	// + #### END OF LICENSING TERMS ####
		54	// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
1	ingob	55	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		56
		57	#include "main.h"
1320	hbuss	58	#include "mymath.h"
1330	killagreg	59	#include "isqrt.h"
1	ingob	60
1352	hbuss	61	unsigned char h,m,s;
		62	unsigned int BaroExpandActive = 0;
2481	holgerb	63	int MesswertNick,MesswertRoll,MesswertGier,RohMesswertNick,RohMesswertRoll;
1166	hbuss	64	int TrimNick, TrimRoll;
927	hbuss	65	int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
2499	holgerb	66	int BoatNeutralNick = 0,BoatNeutralRoll = 0,BoatNeutralGier = 0;
2672	holgerb	67	int LastFlightNeutralNick = 0,LastFlightNeutralRoll = 0,LastFlightNeutralGier = 0;
1703	holgerb	68	int Mittelwert_AccNick, Mittelwert_AccRoll;
1643	holgerb	69	unsigned int NeutralAccX=0, NeutralAccY=0;
805	hbuss	70	int NaviAccNick, NaviAccRoll,NaviCntAcc = 0;
1639	holgerb	71	int NeutralAccZ = 0;
2316	holgerb	72	signed char NeutralAccZfine = 0;
1683	killagreg	73	unsigned char ControlHeading = 0;// in 2�
2481	holgerb	74	long IntegralNick = 0;
		75	long IntegralRoll = 0;
693	hbuss	76	long Integral_Gier = 0;
2481	holgerb	77	long Mess_IntegralNick = 0;
		78	long Mess_IntegralRoll = 0;
693	hbuss	79	long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
2481	holgerb	80	long MittelIntegralNick,MittelIntegralRoll;
1685	holgerb	81	long SummeNick=0,SummeRoll=0;
1	ingob	82	volatile long Mess_Integral_Hoch = 0;
1840	holgerb	83	int KompassValue = -1;
1837	holgerb	84	int KompassSollWert = 0;
2497	holgerb	85	int NC_CompassSetpoint = -1;
1941	holgerb	86	//int KompassRichtung = 0;
1839	holgerb	87	char CalculateCompassTimer = 100;
		88	unsigned char KompassFusion = 32;
		89	unsigned int KompassSignalSchlecht = 50;
855	hbuss	90	unsigned char MAX_GAS,MIN_GAS;
1	ingob	91	unsigned char HoehenReglerAktiv = 0;
880	hbuss	92	unsigned char TrichterFlug = 0;
395	hbuss	93	long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
693	hbuss	94	long ErsatzKompass;
2437	holgerb	95	int ErsatzKompassInGrad, CompassCorrected; // Kompasswert in Grad
693	hbuss	96	int GierGyroFehler = 0;
1211	hbuss	97	char GyroFaktor,GyroFaktorGier;
		98	char IntegralFaktor,IntegralFaktorGier;
1153	hbuss	99	int DiffNick,DiffRoll;
2427	holgerb	100	unsigned int StickGasHover = 127;
		101	int HoverGasMin = 0, HoverGasMax = 1023;
1943	holgerb	102	int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
1377	hbuss	103	//int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
1391	killagreg	104	unsigned char Poti[9] = {0,0,0,0,0,0,0,0};
1	ingob	105	volatile unsigned char SenderOkay = 0;
2601	holgerb	106	unsigned char ReceiverOkay = 0; // either RC or ExternalControl
1698	holgerb	107	char MotorenEin = 0,StartTrigger = 0;
1246	killagreg	108	long HoehenWert = 0;
		109	long SollHoehe = 0;
1942	holgerb	110	signed int AltitudeSetpointTrimming = 0;
1855	holgerb	111	long FromNC_AltitudeSetpoint = 0;
		112	unsigned char FromNC_AltitudeSpeed = 0;
1862	holgerb	113	unsigned char carefree_old = 50; // to make the Beep when switching
1942	holgerb	114	signed char WaypointTrimming = 0;
1840	holgerb	115	int CompassGierSetpoint = 0;
2009	holgerb	116	unsigned char CalibrationDone = 0;
2061	holgerb	117	char NeueKompassRichtungMerken = 0;
1692	holgerb	118	int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0;
1153	hbuss	119	//float Ki = FAKTOR_I;
1676	holgerb	120	int Ki = 10300 / 33;
2732	holgerb	121	//unsigned char Looping_Nick = 0,Looping_Roll = 0;
		122	//unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
1	ingob	123
		124	unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250
2601	holgerb	125	unsigned char Parameter_HoehenSchalter = 0; // Wert : 0-250
		126	unsigned char Parameter_GPS_Switch = 0; // Wert : 0-250
		127	unsigned char Parameter_CareFree_Switch = 0; // Wert : 0-250
		128	unsigned char Parameter_Autoland_Switch = 0; // Wert : 0-250
		129
1	ingob	130	unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32
		131	unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
		132	unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250
2486	holgerb	133	unsigned char Parameter_Hoehe_TiltCompensation = 100; // Wert : 0-250
1111	hbuss	134	unsigned char Parameter_Gyro_D = 8; // Wert : 0-250
173	holgerb	135	unsigned char Parameter_Gyro_P = 150; // Wert : 10-250
1	ingob	136	unsigned char Parameter_Gyro_I = 150; // Wert : 0-250
1322	hbuss	137	unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250
		138	unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250
1	ingob	139	unsigned char Parameter_Gier_P = 2; // Wert : 1-20
		140	unsigned char Parameter_I_Faktor = 10; // Wert : 1-20
		141	unsigned char Parameter_UserParam1 = 0;
		142	unsigned char Parameter_UserParam2 = 0;
		143	unsigned char Parameter_UserParam3 = 0;
		144	unsigned char Parameter_UserParam4 = 0;
499	hbuss	145	unsigned char Parameter_UserParam5 = 0;
		146	unsigned char Parameter_UserParam6 = 0;
		147	unsigned char Parameter_UserParam7 = 0;
		148	unsigned char Parameter_UserParam8 = 0;
2349	holgerb	149	unsigned char Parameter_NickControl = 100;
1	ingob	150	unsigned char Parameter_ServoNickControl = 100;
1232	hbuss	151	unsigned char Parameter_ServoRollControl = 100;
2296	holgerb	152	unsigned char Parameter_ServoNickComp = 50;
		153	unsigned char Parameter_ServoRollComp = 85;
173	holgerb	154	unsigned char Parameter_LoopGasLimit = 70;
1120	hbuss	155	unsigned char Parameter_AchsKopplung1 = 90;
		156	unsigned char Parameter_AchsKopplung2 = 65;
		157	unsigned char Parameter_CouplingYawCorrection = 64;
		158	//unsigned char Parameter_AchsGegenKopplung1 = 0;
499	hbuss	159	unsigned char Parameter_DynamicStability = 100;
921	hbuss	160	unsigned char Parameter_J16Bitmask; // for the J16 Output
		161	unsigned char Parameter_J16Timing; // for the J16 Output
		162	unsigned char Parameter_J17Bitmask; // for the J17 Output
		163	unsigned char Parameter_J17Timing; // for the J17 Output
1051	killagreg	164	unsigned char Parameter_NaviGpsGain;
		165	unsigned char Parameter_NaviGpsP;
		166	unsigned char Parameter_NaviGpsI;
		167	unsigned char Parameter_NaviGpsD;
2344	holgerb	168	unsigned char Parameter_NaviGpsA;
2447	holgerb	169	//unsigned char Parameter_NaviOperatingRadius;
993	hbuss	170	unsigned char Parameter_NaviWindCorrection;
		171	unsigned char Parameter_NaviSpeedCompensation;
921	hbuss	172	unsigned char Parameter_ExternalControl;
1916	holgerb	173	unsigned char Parameter_GlobalConfig;
		174	unsigned char Parameter_ExtraConfig;
1966	holgerb	175	unsigned char Parameter_MaximumAltitude;
1403	hbuss	176	unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
1668	holgerb	177	unsigned char CareFree = 0;
1876	holgerb	178	const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15� steps
1622	killagreg	179
614	hbuss	180	int MaxStickNick = 0,MaxStickRoll = 0;
871	hbuss	181	unsigned int modell_fliegt = 0;
1861	holgerb	182	volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0;
2481	holgerb	183	unsigned char FC_StatusFlags3 = 0;
1121	hbuss	184	long GIER_GRAD_FAKTOR = 1291;
1153	hbuss	185	signed int KopplungsteilNickRoll,KopplungsteilRollNick;
1209	hbuss	186	signed int tmp_motorwert[MAX_MOTORS];
1591	holgerb	187	char VarioCharacter = ' ';
2028	holgerb	188	unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing
2230	holgerb	189	unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while
2309	holgerb	190	signed int Variance = 0;
		191	signed int CosAttitude; // for projection of hoover gas
		192	unsigned char ACC_AltitudeControl = 0;
2390	holgerb	193	unsigned char LowVoltageLandingActive = 0;
2408	holgerb	194	unsigned char LowVoltageHomeActive = 0;
2481	holgerb	195	signed int DriftNick = 0, DriftRoll = 0;
2541	holgerb	196	unsigned char ServoFailsafeActive = 0; // moves Servos into the FS-Position
2616	holgerb	197	unsigned char Partner_StatusFlags = 0, Partner_StatusFlags2 = 0,Partner_StatusFlags3 = 0;
2657	holgerb	198	signed char BaroExpandCnt = 0; // needed to detect a defctive baro-sensor
1591	holgerb	199
2367	holgerb	200	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		201	#define OPA_OFFSET_STEP 5
		202	#else
		203	#define OPA_OFFSET_STEP 10
		204	#endif
		205
2708	holgerb	206	#define MAX_DRIFT_NR 40
		207	#define MAX_DRIFT_YAW 10
2672	holgerb	208
1639	holgerb	209	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		210	// Debugwerte zuordnen
		211	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		212	void CopyDebugValues(void)
		213	{
2373	holgerb	214	DebugOut.Analog[0] = ToNaviCtrl.IntegralNick;//IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
		215	DebugOut.Analog[1] = ToNaviCtrl.IntegralRoll;//IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
1639	holgerb	216	DebugOut.Analog[2] = Mittelwert_AccNick / 4;
		217	DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
1660	holgerb	218	DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier;
2367	holgerb	219	DebugOut.Analog[5] = HoehenWert/10;
2309	holgerb	220	DebugOut.Analog[6] = Aktuell_az;//AdWertAccHoch;//(Mess_Integral_Hoch / 512);
1639	holgerb	221	DebugOut.Analog[8] = KompassValue;
		222	DebugOut.Analog[9] = UBat;
2601	holgerb	223	DebugOut.Analog[10] = ReceiverOkay;
1941	holgerb	224	DebugOut.Analog[11] = ErsatzKompassInGrad;
1702	holgerb	225	DebugOut.Analog[12] = Motor[0].SetPoint;
		226	DebugOut.Analog[13] = Motor[1].SetPoint;
		227	DebugOut.Analog[14] = Motor[2].SetPoint;
		228	DebugOut.Analog[15] = Motor[3].SetPoint;
1639	holgerb	229	DebugOut.Analog[20] = ServoNickValue;
2491	holgerb	230	DebugOut.Analog[21] = HoverGas;
1639	holgerb	231	DebugOut.Analog[22] = Capacity.ActualCurrent;
		232	DebugOut.Analog[23] = Capacity.UsedCapacity;
2309	holgerb	233	DebugOut.Analog[24] = SollHoehe/10;
2437	holgerb	234	// DebugOut.Analog[27] = KompassSollWert;
1682	holgerb	235	DebugOut.Analog[29] = Capacity.MinOfMaxPWM;
1639	holgerb	236	DebugOut.Analog[30] = GPS_Nick;
		237	DebugOut.Analog[31] = GPS_Roll;
1702	holgerb	238	if(VersionInfo.HardwareError[0] \|\| VersionInfo.HardwareError[1]) DebugOut.Status[1] \|= 1; else DebugOut.Status[1] &= 0xfe;
2373	holgerb	239	//DebugOut.Analog[16] = MinBlTemperture;
		240	//DebugOut.Analog[17] = MaxBlTemperture;
2316	holgerb	241	//DebugOut.Analog[16] = Variance;
		242	//DebugOut.Analog[17] = VarioMeter;
2369	holgerb	243	//DebugOut.Analog[16] = GasIsZeroCnt;
2316	holgerb	244	//DebugOut.Analog[18] = HoehenWertF;
		245	//DebugOut.Analog[25] = Parameter_Hoehe_P;
		246	//DebugOut.Analog[26] = Parameter_Luftdruck_D;
1639	holgerb	247	}
		248
1760	holgerb	249
1232	hbuss	250	void Piep(unsigned char Anzahl, unsigned int dauer)
1	ingob	251	{
2263	holgerb	252	unsigned int wait = 0;
2559	holgerb	253	unsigned char update_spi = 12;
1232	hbuss	254	if(MotorenEin) return; //auf keinen Fall im Flug!
1966	holgerb	255	GRN_OFF;
1	ingob	256	while(Anzahl--)
		257	{
1232	hbuss	258	beeptime = dauer;
2263	holgerb	259	wait = dauer;
		260	while(beeptime \|\| wait)
		261	{
		262	if(UpdateMotor)
		263	{
		264	UpdateMotor = 0;
		265	if(!beeptime) wait--;
		266	LIBFC_Polling();
2559	holgerb	267	update_spi--;
2263	holgerb	268	};
2559	holgerb	269	if(update_spi == 0) // 41Hz
		270	{
		271	if(SPI_StartTransmitPacket()) update_spi = 12;
		272	else
		273	if(BytegapSPI == 0) SPI_TransmitByte();
		274	}
		275	else if(BytegapSPI == 0) SPI_TransmitByte();
2263	holgerb	276	}
1	ingob	277	}
1966	holgerb	278	GRN_ON;
1	ingob	279	}
		280
		281	//############################################################################
1622	killagreg	282	// Messwerte beim Ermitteln der Nullage
		283	void CalibrierMittelwert(void)
		284	//############################################################################
		285	{
2426	holgerb	286	// if(PlatinenVersion == 13) SucheGyroOffset();
1622	killagreg	287	// ADC auschalten, damit die Werte sich nicht w�hrend der Berechnung �ndern
		288	ANALOG_OFF;
		289	MesswertNick = AdWertNick;
		290	MesswertRoll = AdWertRoll;
		291	MesswertGier = AdWertGier;
1703	holgerb	292	Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick;
		293	Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll;
1622	killagreg	294	// ADC einschalten
		295	ANALOG_ON;
		296	Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
		297	Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
		298	}
		299
2537	holgerb	300	void StoreNeutralToEeprom(void)
		301	{
		302	BoatNeutralNick = AdNeutralNick;
		303	BoatNeutralRoll = AdNeutralRoll;
		304	BoatNeutralGier = AdNeutralGier;
		305	SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX);
		306	SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY);
2672	holgerb	307
2537	holgerb	308	SetParamWord(PID_GYRO_NICK,(uint16_t)BoatNeutralNick);
		309	SetParamWord(PID_GYRO_ROLL,(uint16_t)BoatNeutralRoll);
		310	SetParamWord(PID_GYRO_YAW,(uint16_t)BoatNeutralGier);
2672	holgerb	311
		312	SetParamWord(EE_LAST_GYRO_NICK,(uint16_t)BoatNeutralNick);
		313	SetParamWord(EE_LAST_GYRO_ROLL,(uint16_t)BoatNeutralRoll);
		314	SetParamWord(EE_LAST_GYRO_YAW,(uint16_t)BoatNeutralGier);
2537	holgerb	315	}
		316
2672	holgerb	317	void StoreLastDriftcompensation(void)
		318	{
		319	int last_nick,last_roll,last_yaw;
		320
		321	last_nick = AdNeutralNick;
		322	last_roll = AdNeutralRoll;
		323	last_yaw = AdNeutralGier;
		324
		325	if(last_nick > BoatNeutralNick + MAX_DRIFT_NR) last_yaw = BoatNeutralNick + MAX_DRIFT_NR;
		326	if(last_nick < BoatNeutralNick - MAX_DRIFT_NR) last_yaw = BoatNeutralNick - MAX_DRIFT_NR;
		327	if(last_roll > BoatNeutralRoll + MAX_DRIFT_NR) last_roll = BoatNeutralRoll + MAX_DRIFT_NR;
		328	if(last_roll < BoatNeutralRoll - MAX_DRIFT_NR) last_roll = BoatNeutralRoll - MAX_DRIFT_NR;
		329	if(last_yaw > BoatNeutralGier + MAX_DRIFT_YAW) last_yaw = BoatNeutralGier + MAX_DRIFT_YAW;
		330	if(last_yaw < BoatNeutralGier - MAX_DRIFT_YAW) last_yaw = BoatNeutralGier - MAX_DRIFT_YAW;
		331
		332	SetParamWord(EE_LAST_GYRO_NICK,(uint16_t)last_nick);
		333	SetParamWord(EE_LAST_GYRO_ROLL,(uint16_t)last_roll);
		334	SetParamWord(EE_LAST_GYRO_YAW,(uint16_t)last_yaw);
		335	}
		336
		337
1622	killagreg	338	//############################################################################
1	ingob	339	// Nullwerte ermitteln
2319	holgerb	340	// Parameter: 0 -> after switch on (ignore ACC-Z fault)
		341	// Parameter: 1 -> before Start
		342	// Parameter: 2 -> calibrate and store ACC
2538	holgerb	343	// Parameter: 3 -> use stored Gyro calibration Data from EEPROM (Boat-Mode)
2319	holgerb	344	unsigned char SetNeutral(unsigned char AdjustmentMode) // retuns: "sucess"
1	ingob	345	//############################################################################
		346	{
2677	holgerb	347	unsigned char i, sucess = 1, lastgyrovalid = 1, boatvalid = 1;
2367	holgerb	348	unsigned int gier_neutral = 0, nick_neutral = 0, roll_neutral = 0, acc_z_neutral = 0, barotest;
1702	holgerb	349	VersionInfo.HardwareError[0] = 0;
2146	holgerb	350	// HEF4017Reset_ON;
1051	killagreg	351	NeutralAccX = 0;
1	ingob	352	NeutralAccY = 0;
		353	NeutralAccZ = 0;
2316	holgerb	354	NeutralAccZfine = 0;
1622	killagreg	355
1051	killagreg	356	AdNeutralNick = 0;
		357	AdNeutralRoll = 0;
1	ingob	358	AdNeutralGier = 0;
1622	killagreg	359
395	hbuss	360	Parameter_AchsKopplung1 = 0;
1120	hbuss	361	Parameter_AchsKopplung2 = 0;
1622	killagreg	362
1036	hbuss	363	ExpandBaro = 0;
2481	holgerb	364	if(AdjustmentMode == 3) FC_StatusFlags3 \|= FC_STATUS3_BOAT;
		365	// else FC_StatusFlags3 &= ~FC_STATUS3_BOAT; -> do not clear that
1622	killagreg	366
1051	killagreg	367	CalibrierMittelwert();
395	hbuss	368	Delay_ms_Mess(100);
1	ingob	369	CalibrierMittelwert();
1622	killagreg	370
1	ingob	371	if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // H�henregelung aktiviert?
1051	killagreg	372	{
2367	holgerb	373	if((MessLuftdruck > 950) \|\| (MessLuftdruck < 750) \|\| ExpandBaro) SucheLuftruckOffset();
1	ingob	374	}
2367	holgerb	375
		376	barotest = MessLuftdruck;
1166	hbuss	377	#define NEUTRAL_FILTER 32
2367	holgerb	378	OCR0A += OPA_OFFSET_STEP;
		379	OCR0B = 255 - OCR0A;
1166	hbuss	380	for(i=0; i<NEUTRAL_FILTER; i++)
1111	hbuss	381	{
		382	Delay_ms_Mess(10);
1216	killagreg	383	gier_neutral += AdWertGier;
1166	hbuss	384	nick_neutral += AdWertNick;
		385	roll_neutral += AdWertRoll;
2316	holgerb	386	acc_z_neutral += Aktuell_az;
1111	hbuss	387	}
2367	holgerb	388	if(MessLuftdruck < 1010 && MessLuftdruck > 20) BaroStep = barotest - MessLuftdruck;
		389	OCR0A -= OPA_OFFSET_STEP;
		390	OCR0B = 255 - OCR0A;
2316	holgerb	391	AdNeutralNick = (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
		392	AdNeutralRoll = (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
		393	AdNeutralGier = (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
		394	NeutralAccZ = (acc_z_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
2672	holgerb	395	//AdNeutralGier -= 20;
1622	killagreg	396
401	hbuss	397	StartNeutralRoll = AdNeutralRoll;
		398	StartNeutralNick = AdNeutralNick;
2606	holgerb	399	VersionInfo.HardwareError[1] &= ~FC_ERROR1_ACC_NOT_CAL;
2319	holgerb	400	if(AdjustmentMode == 2)
1622	killagreg	401	{
		402	NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
		403	NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
		404	// Save ACC neutral settings to eeprom
2537	holgerb	405	StoreNeutralToEeprom();
513	hbuss	406	}
1051	killagreg	407	else
513	hbuss	408	{
1622	killagreg	409	// restore from eeprom
		410	NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK);
		411	NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
		412	// strange settings?
2316	holgerb	413	if(((unsigned int) NeutralAccX > 2048) \|\| ((unsigned int) NeutralAccY > 2048)/* \|\| ((unsigned int) NeutralAccZ > 1024)*/)
1622	killagreg	414	{
2672	holgerb	415	printf("\r\nACC not calibrated!\r\n");
1622	killagreg	416	NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
		417	NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
2606	holgerb	418	VersionInfo.HardwareError[1] \|= FC_ERROR1_ACC_NOT_CAL;
2316	holgerb	419	sucess = 0;
1622	killagreg	420	}
2499	holgerb	421
		422	// restore from eeprom
		423	BoatNeutralNick = (int16_t)GetParamWord(PID_GYRO_NICK);
		424	BoatNeutralRoll = (int16_t)GetParamWord(PID_GYRO_ROLL);
		425	BoatNeutralGier = (int16_t)GetParamWord(PID_GYRO_YAW);
2672	holgerb	426	LastFlightNeutralNick = (int16_t)GetParamWord(EE_LAST_GYRO_NICK);
		427	LastFlightNeutralRoll = (int16_t)GetParamWord(EE_LAST_GYRO_ROLL);
		428	LastFlightNeutralGier = (int16_t)GetParamWord(EE_LAST_GYRO_YAW);
2499	holgerb	429
2677	holgerb	430	// last-Values valid?
		431	if(((unsigned int) LastFlightNeutralNick > (600 * 16)) \|\| ((unsigned int) LastFlightNeutralNick < (400 * 16)) \|\| ((unsigned int) LastFlightNeutralRoll > (600 * 16)) \|\| ((unsigned int) LastFlightNeutralRoll < (400 * 16)) \|\| ((unsigned int) LastFlightNeutralGier > (600 * 2)) \|\| ((unsigned int) LastFlightNeutralGier < (400 * 2)))
		432	{
		433	printf("\r\nlast Gyro calibration data not valid!\r\n");
		434	lastgyrovalid = 0;
		435	}
		436
2672	holgerb	437	if(abs(BoatNeutralNick - LastFlightNeutralNick) > 200) LastFlightNeutralNick = BoatNeutralNick;
		438	if(abs(BoatNeutralRoll - LastFlightNeutralRoll) > 200) LastFlightNeutralRoll = BoatNeutralRoll;
		439	if(abs(BoatNeutralGier - LastFlightNeutralGier) > 50) LastFlightNeutralGier = BoatNeutralGier;
		440
2677	holgerb	441	// Boat-Values valid?
		442	if(((unsigned int) BoatNeutralNick > (600 * 16)) \|\| ((unsigned int) BoatNeutralNick < (400 * 16)) \|\| ((unsigned int) BoatNeutralRoll > (600 * 16)) \|\| ((unsigned int) BoatNeutralRoll < (400 * 16)) \|\| ((unsigned int) BoatNeutralGier > (600 * 2)) \|\| ((unsigned int) BoatNeutralGier < (400 * 2)))
2481	holgerb	443	{
2677	holgerb	444	printf("\r\nGyro ACC calibration data not valid!\r\n");
2481	holgerb	445	sucess = 0;
2485	holgerb	446	FC_StatusFlags3 &= ~FC_STATUS3_BOAT;
2677	holgerb	447	boatvalid = 0;
2481	holgerb	448	}
		449	else
		450	{
2677	holgerb	451	if(FC_StatusFlags3 & FC_STATUS3_BOAT) // Read Gyro Data from eeprom
		452	{
2499	holgerb	453	AdNeutralNick = BoatNeutralNick;
		454	AdNeutralRoll = BoatNeutralRoll;
		455	AdNeutralGier = BoatNeutralGier;
2677	holgerb	456	}
2481	holgerb	457	}
2677	holgerb	458	}
2672	holgerb	459	// ist it within the Boat-Values?
		460	if(abs((AdNeutralGier - BoatNeutralGier) > MAX_DRIFT_YAW) \|\| abs((AdNeutralNick - BoatNeutralNick) > MAX_DRIFT_NR) \|\| abs((AdNeutralRoll - BoatNeutralRoll) > MAX_DRIFT_NR))
		461	{
		462	sucess = 0;
		463	if(AdjustmentMode == 1) SpeakHoTT = SPEAK_ERR_CALIBARTION; // calibration before start
2677	holgerb	464	if(boatvalid)
		465	{
		466	AdNeutralNick = BoatNeutralNick;
		467	AdNeutralRoll = BoatNeutralRoll;
		468	AdNeutralGier = BoatNeutralGier;
		469	}
2672	holgerb	470	}
		471
		472	// make average from these three values
2677	holgerb	473	if(lastgyrovalid && boatvalid)
		474	{
		475	AdNeutralGier = (BoatNeutralGier + LastFlightNeutralGier + AdNeutralGier) / 3;
		476	AdNeutralNick = (BoatNeutralNick + LastFlightNeutralNick + AdNeutralNick) / 3;
		477	AdNeutralRoll = (BoatNeutralRoll + LastFlightNeutralRoll + AdNeutralRoll) / 3;
		478	if(AdjustmentMode == 0) printf("Gyro calibration EEPROM data valid\r\n");
		479	}
2672	holgerb	480
2330	holgerb	481	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space
		482	MesswertNick = 0;
1	ingob	483	MesswertRoll = 0;
		484	MesswertGier = 0;
2367	holgerb	485	Delay_ms_Mess(200);
1703	holgerb	486	Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick;
		487	Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll;
1173	hbuss	488	IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
		489	IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
2072	holgerb	490	Mess_IntegralNick = IntegralNick;
		491	Mess_IntegralRoll = IntegralRoll;
1173	hbuss	492	Mess_Integral_Gier = 0;
1837	holgerb	493	KompassSollWert = KompassValue;
2497	holgerb	494	NC_CompassSetpoint = -1;
1839	holgerb	495	KompassSignalSchlecht = 100;
882	hbuss	496	Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L;
		497	Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L;
693	hbuss	498	ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
		499	GierGyroFehler = 0;
921	hbuss	500	LED_Init();
2389	holgerb	501	if(AdjustmentMode != 0) FC_StatusFlags \|= FC_STATUS_CALIBRATE;
992	hbuss	502	FromNaviCtrl_Value.Kalman_K = -1;
1173	hbuss	503	FromNaviCtrl_Value.Kalman_MaxDrift = 0;
992	hbuss	504	FromNaviCtrl_Value.Kalman_MaxFusion = 32;
1171	hbuss	505	SenderOkay = 100;
2601	holgerb	506
2349	holgerb	507	if(ServoActive) DDRD \|=0x80; // enable J7 -> Servo signal
		508	else
1320	hbuss	509	{
2349	holgerb	510	CalculateServoSignals = 1;
2627	holgerb	511	CalcNickServoValue();
		512	CalculateServo(1); // nick
		513	CalculateServo(1); // roll
2240	holgerb	514	}
1702	holgerb	515
2316	holgerb	516	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		517	signed int tilt1, tilt2;
		518	tilt1 = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg
		519	tilt2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg
		520	tilt1 = (int16_t)ihypot(tilt1,tilt2); // tilt angle over all
		521	CosAttitude = c_cos_8192(tilt1);
		522	NeutralAccZ = (long)((long) (NeutralAccZ - 512) * 8192 + 4096) / CosAttitude + 512;
		523	if(tilt1 > 20) sucess = 0; // calibration must be within 20� Tilt angle
2427	holgerb	524	if(AdjustmentMode != 0 && ACC_AltitudeControl) if((NeutralAccZ < 682 - 30) \|\| (NeutralAccZ > 682 + 35)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_TOP; sucess = 0;};
2316	holgerb	525	#else
		526	NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP);
2330	holgerb	527	EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space
2316	holgerb	528	#endif
1765	killagreg	529	if((AdNeutralNick < 150 * 16) \|\| (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_NICK; };
		530	if((AdNeutralRoll < 150 * 16) \|\| (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_ROLL; };
		531	if((AdNeutralGier < 150 * 2) \|\| (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_YAW; };
		532	if((NeutralAccX < 300) \|\| (NeutralAccX > 750)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_NICK; };
		533	if((NeutralAccY < 300) \|\| (NeutralAccY > 750)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_ROLL; };
		534	if((NeutralAccZ < 512) \|\| (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] \|= FC_ERROR0_ACC_TOP; };
2316	holgerb	535	if(VersionInfo.HardwareError[0]) sucess = 0;
1862	holgerb	536	carefree_old = 70;
1925	holgerb	537	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
1921	holgerb	538	LIBFC_HoTT_Clear();
2316	holgerb	539	ACC_AltitudeFusion(2); // initalisation
1925	holgerb	540	#endif
2676	holgerb	541	StartLuftdruck = LuftdruckKompensiert;
2367	holgerb	542	VarioMeter = 0;
		543	SummenHoehe = 0; Mess_Integral_Hoch = 0;
2373	holgerb	544	DebugOut.Analog[28] = 0; // I2C-Counter
2367	holgerb	545	CalcExpandBaroStep();
2481	holgerb	546	if(FC_StatusFlags3 & FC_STATUS3_BOAT && !EE_Parameter.Driftkomp) EE_Parameter.Driftkomp = 4;
2518	holgerb	547	ShutterCounter = 0;
2497	holgerb	548	/*
		549	//+++++++++++++++++++++++++++++++++++++++++++
		550	//For testing the expandBaro at 30m
		551	ExpandBaro -= 1;
		552	OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
		553	OCR0B = 255 - OCR0A;
		554	CalcExpandBaroStep();
		555	//+++++++++++++++++++++++++++++++++++++++++++
		556	*/
2316	holgerb	557	return(sucess);
1	ingob	558	}
		559
1702	holgerb	560
1	ingob	561	//############################################################################
395	hbuss	562	// Bearbeitet die Messwerte
1	ingob	563	void Mittelwert(void)
		564	//############################################################################
1051	killagreg	565	{
1111	hbuss	566	static signed long tmpl,tmpl2,tmpl3,tmpl4;
		567	static signed int oldNick, oldRoll, d2Roll, d2Nick;
1153	hbuss	568	signed long winkel_nick, winkel_roll;
1111	hbuss	569	MesswertGier = (signed int) AdNeutralGier - AdWertGier;
1171	hbuss	570	MesswertNick = (signed int) AdWertNickFilter / 8;
		571	MesswertRoll = (signed int) AdWertRollFilter / 8;
1153	hbuss	572	RohMesswertNick = MesswertNick;
		573	RohMesswertRoll = MesswertRoll;
1166	hbuss	574
395	hbuss	575	// Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++
1703	holgerb	576	Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L;
		577	Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L;
805	hbuss	578	NaviAccNick += AdWertAccNick;
		579	NaviAccRoll += AdWertAccRoll;
		580	NaviCntAcc++;
1153	hbuss	581
1155	hbuss	582	//++++++++++++++++++++++++++++++++++++++++++++++++
2471	holgerb	583	HoehenWert = HoehenWert_Mess;
		584	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		585	HoehenWertF = HoehenWertF_Mess;
		586	#else
		587	HoehenWertF = HoehenWert;
		588	#endif
		589	//++++++++++++++++++++++++++++++++++++++++++++++++
1155	hbuss	590	// ADC einschalten
1171	hbuss	591	ANALOG_ON;
1155	hbuss	592	AdReady = 0;
		593	//++++++++++++++++++++++++++++++++++++++++++++++++
		594
1216	killagreg	595	if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L;
		596	else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L;
1153	hbuss	597	else winkel_roll = Mess_IntegralRoll;
		598
1216	killagreg	599	if(Mess_IntegralNick > 93000L) winkel_nick = 93000L;
		600	else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L;
1153	hbuss	601	else winkel_nick = Mess_IntegralNick;
		602
1120	hbuss	603	// Gier ++++++++++++++++++++++++++++++++++++++++++++++++
1153	hbuss	604	Mess_Integral_Gier += MesswertGier;
		605	ErsatzKompass += MesswertGier;
395	hbuss	606	// Kopplungsanteil +++++++++++++++++++++++++++++++++++++
2732	holgerb	607	// if(!Looping_Nick && !Looping_Roll)
395	hbuss	608	{
1153	hbuss	609	tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
1120	hbuss	610	tmpl3 *= Parameter_AchsKopplung2; //65
1111	hbuss	611	tmpl3 /= 4096L;
1153	hbuss	612	tmpl4 = (MesswertNick * winkel_roll) / 2048L;
1216	killagreg	613	tmpl4 *= Parameter_AchsKopplung2; //65
1111	hbuss	614	tmpl4 /= 4096L;
1153	hbuss	615	KopplungsteilNickRoll = tmpl3;
		616	KopplungsteilRollNick = tmpl4;
1111	hbuss	617	tmpl4 -= tmpl3;
		618	ErsatzKompass += tmpl4;
1166	hbuss	619	if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen
1111	hbuss	620
1153	hbuss	621	tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L;
1111	hbuss	622	tmpl *= Parameter_AchsKopplung1; // 90
880	hbuss	623	tmpl /= 4096L;
1153	hbuss	624	tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L;
395	hbuss	625	tmpl2 *= Parameter_AchsKopplung1;
1662	killagreg	626	tmpl2 /= 4096L;
1225	hbuss	627	if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 \|\| labs(tmpl2) > 128) TrichterFlug = 1;
1153	hbuss	628	//MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
395	hbuss	629	}
2732	holgerb	630	// else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
1658	holgerb	631	TrimRoll = tmpl - tmpl2 / 100L;
		632	TrimNick = -tmpl2 + tmpl / 100L;
1111	hbuss	633	// Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++
		634	if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360� Umschlag
		635	if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
395	hbuss	636	// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
1166	hbuss	637	Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll;
1051	killagreg	638	if(Mess_IntegralRoll > Umschlag180Roll)
395	hbuss	639	{
882	hbuss	640	Mess_IntegralRoll = -(Umschlag180Roll - 25000L);
1051	killagreg	641	}
395	hbuss	642	if(Mess_IntegralRoll <-Umschlag180Roll)
		643	{
882	hbuss	644	Mess_IntegralRoll = (Umschlag180Roll - 25000L);
1051	killagreg	645	}
395	hbuss	646	// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
1166	hbuss	647	Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick;
1051	killagreg	648	if(Mess_IntegralNick > Umschlag180Nick)
882	hbuss	649	{
		650	Mess_IntegralNick = -(Umschlag180Nick - 25000L);
1051	killagreg	651	}
		652	if(Mess_IntegralNick <-Umschlag180Nick)
395	hbuss	653	{
882	hbuss	654	Mess_IntegralNick = (Umschlag180Nick - 25000L);
1051	killagreg	655	}
1111	hbuss	656
1	ingob	657	Integral_Gier = Mess_Integral_Gier;
		658	IntegralNick = Mess_IntegralNick;
		659	IntegralRoll = Mess_IntegralRoll;
		660
2481	holgerb	661
1166	hbuss	662	#define D_LIMIT 128
		663
1171	hbuss	664	MesswertNick = HiResNick / 8;
		665	MesswertRoll = HiResRoll / 8;
1166	hbuss	666
1167	hbuss	667	if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000;
2426	holgerb	668	// if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; }
		669	// else
		670	{ if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; }
1167	hbuss	671	if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000;
2426	holgerb	672	// if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; }
		673	// else
		674	{ if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; }
1167	hbuss	675
1216	killagreg	676	if(Parameter_Gyro_D)
1111	hbuss	677	{
1166	hbuss	678	d2Nick = HiResNick - oldNick;
		679	oldNick = (oldNick + HiResNick)/2;
1111	hbuss	680	if(d2Nick > D_LIMIT) d2Nick = D_LIMIT;
		681	else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT;
1791	holgerb	682
1166	hbuss	683	d2Roll = HiResRoll - oldRoll;
		684	oldRoll = (oldRoll + HiResRoll)/2;
1111	hbuss	685	if(d2Roll > D_LIMIT) d2Roll = D_LIMIT;
		686	else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT;
1791	holgerb	687
		688	MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16;
1166	hbuss	689	MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16;
		690	HiResNick += (d2Nick * (signed int) Parameter_Gyro_D);
		691	HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D);
1216	killagreg	692	}
1111	hbuss	693
1166	hbuss	694	if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
		695	else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
		696	if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
		697	else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
1153	hbuss	698
2732	holgerb	699	if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER)
1153	hbuss	700	{
		701	if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256);
		702	else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
		703	if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256);
		704	else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256);
		705	}
1	ingob	706	}
		707
		708	//############################################################################
		709	// Senden der Motorwerte per I2C-Bus
		710	void SendMotorData(void)
		711	//############################################################################
1051	killagreg	712	{
1209	hbuss	713	unsigned char i;
921	hbuss	714	if(!MotorenEin)
1	ingob	715	{
1765	killagreg	716	FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN \| FC_STATUS_FLY);
2309	holgerb	717	FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF;
1216	killagreg	718	for(i=0;i<MAX_MOTORS;i++)
		719	{
		720	if(!PC_MotortestActive) MotorTest[i] = 0;
1638	holgerb	721	Motor[i].SetPoint = MotorTest[i];
		722	Motor[i].SetPointLowerBits = 0;
		723	/*
1760	holgerb	724	Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution
		725	Motor[i].SetPointLowerBits = MotorTest[i] % 4;
1638	holgerb	726	*/
1216	killagreg	727	}
1212	hbuss	728	if(PC_MotortestActive) PC_MotortestActive--;
1216	killagreg	729	}
1765	killagreg	730	else FC_StatusFlags \|= FC_STATUS_MOTOR_RUN;
1744	holgerb	731
2418	holgerb	732	// ++++++++++++++++++++++++++++++++++++++++++
		733
		734	// ++++++++++++++++++++++++++++++++++++++++++
2427	holgerb	735	#ifdef REDUNDANT_FC_SLAVE
2418	holgerb	736	I2CTimeout = 100;
2529	holgerb	737	return; // don't send I2C-Data
2427	holgerb	738	#endif
		739
		740	#ifdef REDUNDANT_FC_MASTER
		741	if(Parameter_UserParam7 > 150)
2418	holgerb	742	{
2529	holgerb	743	FC_StatusFlags3 \|= FC_STATUS3_REDUNDANCE_TEST;
2427	holgerb	744	// Make noise
		745	if((BeepMuster == 0xffff)) { beeptime = 25000; BeepMuster = 0x0080; }
		746	// Do not send I2C-Data
2529	holgerb	747	if((FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) \|\| !(FC_StatusFlags \|= FC_STATUS_MOTOR_RUN))
2427	holgerb	748	{
		749	I2CTimeout = 100;
2554	holgerb	750	if(modell_fliegt != 0 && modell_fliegt < 100) modell_fliegt = 100; // ansonsten kann es vorkommen, dass die Master-FC auf Standgas bleibt
2529	holgerb	751	return; // don't send I2C-Data
2427	holgerb	752	}
2418	holgerb	753	}
		754	#endif
1765	killagreg	755	if(I2C_TransferActive)
1744	holgerb	756	{
1760	holgerb	757	I2C_TransferActive = 0; // enable for the next time
1765	killagreg	758	}
		759	else
1744	holgerb	760	{
2407	holgerb	761	// motor_write = 0;
1760	holgerb	762	I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode
1765	killagreg	763	}
1	ingob	764	}
		765
2342	holgerb	766	unsigned char GetChannelValue(unsigned char ch) // gives the unsigned value of the channel
		767	{
		768	int tmp2;
		769	if(ch == 0) return(0);
		770	tmp2 = PPM_in[ch] + 127;
		771	if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0;
		772	return(tmp2);
		773	}
1	ingob	774
		775	//############################################################################
		776	// Tr�gt ggf. das Poti als Parameter ein
1051	killagreg	777	void ParameterZuordnung(void)
1	ingob	778	//############################################################################
		779	{
1787	holgerb	780	unsigned char tmp,i;
		781	for(i=0;i<8;i++)
		782	{
		783	int tmp2;
1933	holgerb	784	tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i];
		785	tmp2 = PPM_in[tmp] + 127;
1787	holgerb	786	if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0;
1933	holgerb	787
2601	holgerb	788	if(tmp == WP_EVENT_PPM_IN) Poti[i] = tmp2; // WaypointEvent channel -> no filter
1933	holgerb	789	else
1787	holgerb	790	if(tmp2 != Poti[i])
		791	{
		792	Poti[i] += (tmp2 - Poti[i]) / 4;
		793	if(Poti[i] > tmp2) Poti[i]--;
		794	else Poti[i]++;
		795	}
		796	}
921	hbuss	797	CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
		798	CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
		799	CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
1933	holgerb	800	CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255);
		801	CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255);
2443	holgerb	802	if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = EE_Parameter.Servo3OnValue; else Parameter_Servo3 = EE_Parameter.Servo3OffValue;} // Out1 (J16)
		803	else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = EE_Parameter.Servo3OnValue; else Parameter_Servo3 = EE_Parameter.Servo3OffValue;}
2349	holgerb	804	else CHK_POTI_MM(Parameter_Servo3,EE_Parameter.Servo3, 24, 255);
2012	holgerb	805
2443	holgerb	806	if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = EE_Parameter.Servo4OnValue; else Parameter_Servo4 = EE_Parameter.Servo4OffValue;}
		807	else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = EE_Parameter.Servo4OnValue; else Parameter_Servo4 = EE_Parameter.Servo4OffValue;} // Out2 (J17)
2349	holgerb	808	else CHK_POTI_MM(Parameter_Servo4,EE_Parameter.Servo4, 24, 255);
		809
		810	CHK_POTI_MM(Parameter_Servo5,EE_Parameter.Servo5, 24, 255);
1377	hbuss	811	CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung);
2486	holgerb	812	CHK_POTI(Parameter_Hoehe_TiltCompensation,EE_Parameter.Hoehe_TiltCompensation);
1377	hbuss	813	CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung);
		814	CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I);
		815	CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D);
		816	CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P);
		817	CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I);
		818	CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor);
		819	CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1);
		820	CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2);
		821	CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3);
		822	CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4);
		823	CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5);
		824	CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6);
		825	CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7);
		826	CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8);
		827	CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl);
		828	CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl);
2296	holgerb	829	CHK_POTI(Parameter_ServoNickComp,EE_Parameter.ServoNickComp);
		830	CHK_POTI(Parameter_ServoRollComp,EE_Parameter.ServoRollComp);
1377	hbuss	831	CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit);
1668	holgerb	832	CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1);
		833	CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2);
1377	hbuss	834	CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection);
1936	holgerb	835	CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude);
2447	holgerb	836	// if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) \|\| Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude;
1916	holgerb	837	Parameter_GlobalConfig = EE_Parameter.GlobalConfig;
		838	Parameter_ExtraConfig = EE_Parameter.ExtraConfig;
1377	hbuss	839	// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
		840	CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
		841	CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
1676	holgerb	842	Ki = 10300 / (Parameter_I_Faktor + 1);
1	ingob	843	MAX_GAS = EE_Parameter.Gas_Max;
1662	killagreg	844	MIN_GAS = EE_Parameter.Gas_Min;
1668	holgerb	845
2601	holgerb	846	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		847	Parameter_HoehenSchalter = GetChannelValue(EE_Parameter.HoeheChannel);
		848	Parameter_GPS_Switch = GetChannelValue(EE_Parameter.NaviGpsModeChannel);
		849	Parameter_CareFree_Switch = GetChannelValue(EE_Parameter.CareFreeChannel);
		850	Parameter_Autoland_Switch = GetChannelValue(EE_Parameter.StartLandChannel);
		851	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		852
		853	if(ExternalControl.Config & EC_VALID)
		854	{
		855	if(ExternalControl.Config & EC_IGNORE_RC_LOST) ReceiverOkay = 220;
		856	if(ExternalControl.Config & EC_USE_SWITCH)
		857	{
		858	if(ExternalControl.Switches & EC2_AUTOLAND) Parameter_Autoland_Switch = 1;
		859	else
		860	if(ExternalControl.Switches & EC2_AUTOSTART) Parameter_Autoland_Switch = 250;
		861	else Parameter_GPS_Switch = 128;
		862
		863	if(ExternalControl.Switches & EC2_PH) Parameter_GPS_Switch = 128;
		864	else
		865	if(ExternalControl.Switches & EC2_CH) Parameter_GPS_Switch = 250;
		866	else Parameter_GPS_Switch = 0;
		867
		868	if(ExternalControl.Switches & EC2_CAREFREE) Parameter_CareFree_Switch = 250;
		869	else Parameter_CareFree_Switch = 0;
		870
2721	holgerb	871	if(ExternalControl.Switches & EC2_ALTITUDE) { Parameter_HoehenSchalter = 250; Parameter_GlobalConfig \|= (CFG_HOEHENREGELUNG \| CFG_HOEHEN_SCHALTER);}
2601	holgerb	872	else Parameter_HoehenSchalter = 0;
		873	}
		874	}
2727	holgerb	875
2669	holgerb	876	if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) Parameter_GPS_Switch = 0;
2601	holgerb	877	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		878	if(EE_Parameter.CareFreeChannel \|\| (ExternalControl.Config & EC_USE_SWITCH))
1668	holgerb	879	{
1682	holgerb	880	CareFree = 1;
2601	holgerb	881	if(Parameter_CareFree_Switch < 64) CareFree = 0;
1862	holgerb	882	if(carefree_old != CareFree)
		883	{
		884	if(carefree_old < 3)
		885	{
2090	holgerb	886	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		887	if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; }
		888	else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; }
		889	#else
2063	holgerb	890	if(CareFree) beeptime = 1500;
1862	holgerb	891	else beeptime = 200;
2090	holgerb	892	#endif
2063	holgerb	893	NeueKompassRichtungMerken = 5;
1862	holgerb	894	carefree_old = CareFree;
		895	} else carefree_old--;
		896	}
2569	holgerb	897	#ifndef REDUNDANT_FC_SLAVE
1937	holgerb	898	if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] \|= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE;
2569	holgerb	899	#endif
1669	killagreg	900	}
1839	holgerb	901	else
		902	{
		903	CareFree = 0;
1862	holgerb	904	carefree_old = 10;
1839	holgerb	905	}
1668	holgerb	906
2551	holgerb	907	if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree) // ung�ltiger Kompasswert
1690	holgerb	908	{
2551	holgerb	909	if(BeepMuster == 0xffff) { beeptime = 15000; BeepMuster = 0xA400;};
1690	holgerb	910	CareFree = 0;
1765	killagreg	911	}
2551	holgerb	912	if(CareFree) { FC_StatusFlags2 \|= FC_STATUS2_CAREFREE; } else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE;
1	ingob	913	}
		914
2427	holgerb	915	void CalcStickGasHover(void)
		916	{
		917	if(!EE_Parameter.Hoehe_StickNeutralPoint)
		918	{
		919	StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value
		920	StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning;
		921	}
		922	else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
		923	LIMIT_MIN_MAX(StickGasHover, 70, 175); // reserve some range for trim up and down
		924	}
		925
2499	holgerb	926	void ChannelAssingment(void)
		927	{
		928	cli();
		929	ChannelNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]];
		930	ChannelRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]];
		931	ChannelYaw = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
		932	ChannelGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]];
		933	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		934	//+ Analoge Steuerung per Seriell
		935	//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2601	holgerb	936	if(ExternalControl.Config & EC_VALID)
2499	holgerb	937	{
2721	holgerb	938	if(MotorenEin && (ExternalControl.Config & EC_ONLY_IF_MOTOR_OFF)) // this is used for calibrate etc.
		939	{
		940	ExternalControl.Nick = 0;
		941	ExternalControl.Roll = 0;
		942	ExternalControl.Gier = 0;
		943	ExternalControl.Gas = 0;
		944	}
		945
2601	holgerb	946	if(ExternalControl.Config & EC_IGNORE_RC_STICK) // do not add
		947	{
		948	ChannelNick = ExternalControl.Nick;
		949	ChannelRoll = ExternalControl.Roll;
		950	ChannelYaw = ExternalControl.Gier;
		951	ChannelGas = ExternalControl.Gas;
		952	}
2499	holgerb	953	else
2601	holgerb	954	{
		955	ChannelNick += ExternalControl.Nick;
		956	ChannelRoll += ExternalControl.Roll;
		957	ChannelYaw += ExternalControl.Gier;
		958	if(ExternalControl.Config & EC_GAS_ADD) ChannelGas += ExternalControl.Gas;
		959	else
		960	{
		961	if(ExternalControl.Gas < ChannelGas) ChannelGas = ExternalControl.Gas; // the RC-Stick is the MAX value here
		962	}
		963	}
2499	holgerb	964	}
		965	sei();
		966	if(ChannelNick > 127) ChannelNick = 127; else if(ChannelNick < -127) ChannelNick = -127;
		967	if(ChannelRoll > 127) ChannelRoll = 127; else if(ChannelRoll < -127) ChannelRoll = -127;
		968	if(ChannelYaw > 127) ChannelYaw = 127; else if(ChannelYaw < -127) ChannelYaw = -127;
		969	if(ChannelGas > 127) ChannelGas = 127; else if(ChannelGas < -127) ChannelGas = -127;
		970	}
2427	holgerb	971
1	ingob	972	//############################################################################
		973	//
		974	void MotorRegler(void)
		975	//############################################################################
		976	{
1330	killagreg	977	int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2;
1	ingob	978	int GierMischanteil,GasMischanteil;
		979	static long sollGier = 0,tmp_long,tmp_long2;
2538	holgerb	980	static unsigned int RcLostTimer, delay_Acc_neutral;
1	ingob	981	static unsigned char delay_neutral = 0;
		982	static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
2146	holgerb	983	static signed char move_safety_switch = 0;
1153	hbuss	984	int IntegralNickMalFaktor,IntegralRollMalFaktor;
1209	hbuss	985	unsigned char i;
1051	killagreg	986	Mittelwert();
		987	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	988	// Gaswert ermitteln
1051	killagreg	989	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2230	holgerb	990	if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING \| FC_STATUS2_RC_FAILSAVE_ACTIVE)))
		991	{
		992	if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)
2028	holgerb	993	{
		994	if(HoverGas && HoverGas < 150 * STICK_GAIN)
		995	{
		996	HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas
		997	}
		998	else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet
		999	} else HooverGasEmergencyPercent = EE_Parameter.NotGas;
2230	holgerb	1000	}
		1001	if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed
		1002	{
		1003	StickGas = 0; // Hold Gas down in that case
2499	holgerb	1004	// ExternalControl.Gas = 0;
2230	holgerb	1005	HooverGasEmergencyPercent = MIN_GAS;
		1006	}
1051	killagreg	1007	GasMischanteil = StickGas;
831	hbuss	1008	if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
1051	killagreg	1009	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693	hbuss	1010	// Empfang schlecht
1051	killagreg	1011	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2601	holgerb	1012	if(ReceiverOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE))
1	ingob	1013	{
2541	holgerb	1014	ServoFailsafeActive = SERVO_FS_TIME;
1051	killagreg	1015	if(RcLostTimer) RcLostTimer--;
		1016	else
1	ingob	1017	{
		1018	MotorenEin = 0;
1954	holgerb	1019	modell_fliegt = 0;
		1020	FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING \| FC_STATUS_FLY);
1051	killagreg	1021	}
1	ingob	1022	ROT_ON;
2008	holgerb	1023	if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken
1	ingob	1024	{
2028	holgerb	1025	GasMischanteil = HooverGasEmergencyPercent;
1765	killagreg	1026	FC_StatusFlags \|= FC_STATUS_EMERGENCY_LANDING;
173	holgerb	1027	}
1954	holgerb	1028	else
		1029	{
		1030	MotorenEin = 0;
		1031	}
1	ingob	1032	}
1051	killagreg	1033	else
		1034	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1035	// Emfang gut
1051	killagreg	1036	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2601	holgerb	1037	if(ReceiverOkay > 140)// && 0)
1	ingob	1038	{
2340	holgerb	1039	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2345	holgerb	1040	static unsigned int trigger = 1000;
2340	holgerb	1041	static unsigned char old_switch = 100;
2601	holgerb	1042	if((EE_Parameter.StartLandChannel \|\| (ExternalControl.Config & EC_USE_SWITCH)) && EE_Parameter.LandingSpeed)
2340	holgerb	1043	{
2601	holgerb	1044	if(Parameter_Autoland_Switch > 180)
2340	holgerb	1045	{
		1046	if(old_switch == 50) if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) { FC_StatusFlags2 \|= FC_STATUS2_AUTO_STARTING; SpeakHoTT = SPEAK_RISING;}
2342	holgerb	1047	FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING;
2340	holgerb	1048	old_switch = 150;
		1049	}
		1050	else
2601	holgerb	1051	if(Parameter_Autoland_Switch < 64)
2340	holgerb	1052	{
		1053	if(old_switch == 150) { FC_StatusFlags2 \|= FC_STATUS2_AUTO_LANDING; SpeakHoTT = SPEAK_SINKING;}
2342	holgerb	1054	FC_StatusFlags2 &= ~FC_STATUS2_AUTO_STARTING;
2340	holgerb	1055	old_switch = 50;
		1056	}
2601	holgerb	1057	else // mittenstellung
2340	holgerb	1058	{
		1059	FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING \| FC_STATUS2_AUTO_LANDING);
		1060	}
		1061	}
		1062	#endif
1765	killagreg	1063	FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING;
1	ingob	1064	RcLostTimer = EE_Parameter.NotGasZeit * 50;
921	hbuss	1065	if(GasMischanteil > 40 && MotorenEin)
1	ingob	1066	{
		1067	if(modell_fliegt < 0xffff) modell_fliegt++;
		1068	}
871	hbuss	1069	if((modell_fliegt < 256))
2309	holgerb	1070	{
1	ingob	1071	SummeNick = 0;
		1072	SummeRoll = 0;
1682	holgerb	1073	sollGier = 0;
		1074	Mess_Integral_Gier = 0;
2309	holgerb	1075	FC_StatusFlags2 \|= FC_STATUS2_WAIT_FOR_TAKEOFF;
2340	holgerb	1076	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		1077	old_switch = 100;
		1078	#endif
2309	holgerb	1079	}
		1080	else
		1081	{
		1082	FC_StatusFlags \|= FC_STATUS_FLY;
		1083	if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF)
		1084	{
2322	holgerb	1085	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2340	holgerb	1086	if((NC_To_FC_Flags & NC_TO_FC_AUTOSTART \|\| FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) && (VarioCharacter == '=') && ACC_AltitudeControl)
2322	holgerb	1087	{
2340	holgerb	1088	FromNC_AltitudeSpeed = 80;
		1089	FromNC_AltitudeSetpoint = 500;
		1090	SollHoehe = 500;
2322	holgerb	1091	trigger = 1000;
2721	holgerb	1092	if(NC_To_FC_Flags & NC_TO_FC_AUTOSTART) SpeakHoTT = SPEAK_STARTING_WP;
2322	holgerb	1093	/* if(StartTrigger != 2)
		1094	{
		1095	StartTrigger = 1;
		1096	if(HoverGas < STICK_GAIN * 35) HoverGas = STICK_GAIN * 35;
		1097	}
		1098	*/
		1099	}
2340	holgerb	1100	// else FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING);
2322	holgerb	1101	#endif
2340	holgerb	1102	if(HoehenWertF > 150 \|\| HoehenWert < -350 \|\| !(Parameter_GlobalConfig & CFG_HOEHENREGELUNG))
2309	holgerb	1103	{
		1104	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2322	holgerb	1105	trigger = 1000;
2369	holgerb	1106	if(FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) { FromNC_AltitudeSpeed = 0; SollHoehe = 300;/HoehenWertF + 100;/}
		1107	else SpeakHoTT = SPEAK_RISING;
2309	holgerb	1108	#endif
2340	holgerb	1109	FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF \| FC_STATUS2_AUTO_STARTING \| FC_STATUS2_AUTO_LANDING);
2309	holgerb	1110	}
		1111	SummeNick = 0;
		1112	SummeRoll = 0;
		1113	Mess_Integral_Gier = 0;
		1114	// sollGier = 0;
		1115	if(modell_fliegt > 1000) modell_fliegt = 1000; // for the Hooverpoint-Estimation
		1116	}
2322	holgerb	1117	else // Flying mode
		1118	{
		1119	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2340	holgerb	1120	if((FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) && (VarioCharacter == 'v' \|\| VarioCharacter == '=') && ACC_AltitudeControl)
		1121	{
		1122	FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed;
		1123	FromNC_AltitudeSetpoint = -20000;
		1124	}
2322	holgerb	1125	if(trigger < 1000)
		1126	{
		1127	trigger++;
		1128	SummeNick = 0;
		1129	SummeRoll = 0;
		1130	Mess_Integral_Gier = 0;
		1131	SollHoehe = HoehenWertF - 300;
2345	holgerb	1132	if(trigger == 1000 && FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING && VarioCharacter != '+')
		1133	{
		1134	FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING;
		1135	FC_StatusFlags2 \|= FC_STATUS2_WAIT_FOR_TAKEOFF; // go back into starting state
		1136	}
2322	holgerb	1137	}
		1138	else
		1139	if(ACC_AltitudeControl && (VarioCharacter == 'v' \|\| VarioCharacter == '-') && HoehenWert < 1000 /&& FromNC_AltitudeSetpoint < 0/)
		1140	{
2521	holgerb	1141	if((Aktuell_az/4 > EE_Parameter.LandingPulse) && (NeutralAccZ/4 > EE_Parameter.LandingPulse))
2345	holgerb	1142	{
		1143	trigger = 0;
		1144	SpeakHoTT = SPEAK_LANDING;
		1145	};
2322	holgerb	1146	}
		1147	#endif
		1148	}
		1149	} // end of: modell_fliegt > 256
2496	holgerb	1150	if((ChannelGas > 80) && MotorenEin == 0 && !(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE))
1	ingob	1151	{
1051	killagreg	1152	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1153	// auf Nullwerte kalibrieren
1051	killagreg	1154	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2538	holgerb	1155	if(ChannelYaw > 75) // Neutralwerte
1	ingob	1156	{
		1157	if(++delay_neutral > 200) // nicht sofort
		1158	{
2481	holgerb	1159	unsigned char setting = 0;
1	ingob	1160	delay_neutral = 0;
		1161	modell_fliegt = 0;
2496	holgerb	1162	if(ChannelNick > 70 \|\| abs(ChannelRoll) > 70)
1	ingob	1163	{
2496	holgerb	1164	if(ChannelRoll > 70 && ChannelNick < 70 && ChannelNick > -70) setting = 1;
		1165	if(ChannelRoll > 70 && ChannelNick > 70) setting = 2;
		1166	if(ChannelRoll < 70 && ChannelNick > 70) setting = 3;
		1167	if(ChannelRoll <-70 && ChannelNick > 70) setting = 4;
		1168	if(ChannelRoll <-70 && ChannelNick < 70 && ChannelNick > -70) setting = 5;
2481	holgerb	1169	if(setting) SetActiveParamSet(setting); // aktiven Datensatz merken
1	ingob	1170	}
2496	holgerb	1171	if(abs(ChannelRoll) < 30 && ChannelNick < -70)
1051	killagreg	1172	{
2538	holgerb	1173	WinkelOut.CalcState = 1; // Compass kalibrieren
2009	holgerb	1174	CalibrationDone = 0;
819	hbuss	1175	beeptime = 1000;
		1176	}
		1177	else
1	ingob	1178	{
2340	holgerb	1179	ParamSet_ReadFromEEProm(ActiveParamSet);
1413	killagreg	1180	LipoDetection(0);
1626	killagreg	1181	LIBFC_ReceiverInit(EE_Parameter.Receiver);
1916	holgerb	1182	if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // H�henregelung aktiviert?
819	hbuss	1183	{
1	ingob	1184	if((MessLuftdruck > 950) \|\| (MessLuftdruck < 750)) SucheLuftruckOffset();
1051	killagreg	1185	}
2538	holgerb	1186	if(!setting && ChannelRoll < -70 && ChannelNick < 70) CalibrationDone = SetNeutral(3); // Boat-Mode
		1187	// else
		1188	// if(!setting && ChannelYaw < -75 && abs(ChannelNick) < 70) CalibrationDone = SetNeutral(2); // store ACC values into EEPROM
2481	holgerb	1189	else CalibrationDone = SetNeutral(1);
1232	hbuss	1190	ServoActive = 1;
		1191	DDRD \|=0x80; // enable J7 -> Servo signal
2263	holgerb	1192	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2309	holgerb	1193	if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR;
2316	holgerb	1194	else
		1195	if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION;
2721	holgerb	1196	else { SpeakHoTT = SPEAK_CALIBRATE; TimerSpeakReady = 6;}
		1197	ShowSettingNameTime = 4; // for HoTT & Jeti
2263	holgerb	1198	#endif
2332	holgerb	1199	Piep(ActiveParamSet,120);
819	hbuss	1200	}
1051	killagreg	1201	}
1	ingob	1202	}
2538	holgerb	1203	else
		1204	if(ChannelYaw < -75 && abs(ChannelRoll) < 16 && abs(ChannelRoll) < 16) // ACC calibrate
		1205	{
		1206	if(++delay_Acc_neutral > 500 * 5) // 5 sekunden
		1207	{
		1208	delay_Acc_neutral = 0;
		1209	CalibrationDone = SetNeutral(2); // store ACC values into EEPROM
		1210	ServoActive = 1;
		1211	DDRD \|=0x80; // enable J7 -> Servo signal
		1212	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		1213	if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR;
		1214	else
		1215	if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION;
2721	holgerb	1216	else { SpeakHoTT = SPEAK_CALIBRATE; TimerSpeakReady = 6;}
2616	holgerb	1217	ShowSettingNameTime = 5; // for HoTT & Jeti
2538	holgerb	1218	#endif
		1219	Piep(ActiveParamSet,120);
		1220	}
		1221	}
		1222	else { delay_neutral = 0; delay_Acc_neutral = 0;};
1	ingob	1223	}
1051	killagreg	1224	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1225	// Gas ist unten
1051	killagreg	1226	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2496	holgerb	1227	if(ChannelGas < -100)
1	ingob	1228	{
2146	holgerb	1229	if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100;
		1230	else
		1231	if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100;
1521	killagreg	1232	// Motoren Starten
		1233	if(!MotorenEin)
		1234	{
2496	holgerb	1235	if(((((ChannelYaw < -100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) \|\| EE_Parameter.MotorSafetySwitch == 0)))
2481	holgerb	1236	\|\| (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100)))
		1237	&& !(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE))
1521	killagreg	1238	{
1051	killagreg	1239	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1240	// Einschalten
1051	killagreg	1241	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2146	holgerb	1242	if(CalibrationDone) FC_StatusFlags \|= FC_STATUS_START;
2676	holgerb	1243	StartLuftdruck = LuftdruckKompensiert;
2309	holgerb	1244	HoehenWert = 0;
2471	holgerb	1245	HoehenWert_Mess = 0;
2481	holgerb	1246	GasIsZeroCnt = 600;
2471	holgerb	1247	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		1248	HoehenWertF_Mess = 0;
		1249	#endif
2309	holgerb	1250	SummenHoehe = 0;
2496	holgerb	1251	if((ChannelNick > -100 \|\| abs(ChannelRoll) < 100) && EE_Parameter.MotorSafetySwitch == 0) delay_einschalten = 0;
2146	holgerb	1252	if(++delay_einschalten > 253)
1521	killagreg	1253	{
2481	holgerb	1254	if(FC_StatusFlags3 & FC_STATUS3_BOAT) { if((abs(MesswertGier) > 322 \|\| abs(MesswertNick) > 203) \|\| abs(MesswertRoll) > 20*3) CalibrationDone = 0; } // dann ist der Gyro defekt, schlecht kalibriert oder der MK dreht sich
		1255	else
2407	holgerb	1256	if((abs(MesswertGier) > 32 \|\| abs(MesswertNick) > 20) \|\| abs(MesswertRoll) > 20) CalibrationDone = 0; // dann ist der Gyro defekt, schlecht kalibriert oder der MK dreht sich
1521	killagreg	1257	delay_einschalten = 0;
2569	holgerb	1258
2616	holgerb	1259	if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode && !Partner_ErrorCode)
1622	killagreg	1260	{
		1261	modell_fliegt = 1;
		1262	MotorenEin = 1;
		1263	sollGier = 0;
		1264	Mess_Integral_Gier = 0;
		1265	Mess_Integral_Gier2 = 0;
		1266	Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
		1267	Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
		1268	SummeNick = 0;
		1269	SummeRoll = 0;
1913	holgerb	1270	// ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2;
1840	holgerb	1271	NeueKompassRichtungMerken = 100; // 2 sekunden
2606	holgerb	1272	NC_CompassSetpoint = -1;
		1273	NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home)
2090	holgerb	1274	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		1275	SpeakHoTT = SPEAK_STARTING;
		1276	#endif
1622	killagreg	1277	}
		1278	else
		1279	{
		1280	beeptime = 1500; // indicate missing calibration
2090	holgerb	1281	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2146	holgerb	1282	if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION;
2721	holgerb	1283	else SpeakHoTT = SPEAK_ERROR;
2090	holgerb	1284	#endif
1622	killagreg	1285	}
1521	killagreg	1286	}
		1287	}
		1288	else delay_einschalten = 0;
		1289	}
1051	killagreg	1290	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1291	// Auschalten
1051	killagreg	1292	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1521	killagreg	1293	else // only if motors are running
		1294	{
2146	holgerb	1295	// if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 \|\| EE_Parameter.MotorSafetySwitch == 0))
2496	holgerb	1296	if((((ChannelYaw > 100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) \|\| EE_Parameter.MotorSafetySwitch == 0)))
2146	holgerb	1297	\|\| (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100)))
1521	killagreg	1298	{
2496	holgerb	1299	if((ChannelNick > -100 \|\| abs(ChannelRoll) < 100) && EE_Parameter.MotorSafetySwitch == 0)
2349	holgerb	1300	{
		1301	delay_ausschalten = 0;
		1302	}
		1303	else
		1304	{
		1305	SummeNick = 0;
		1306	SummeRoll = 0;
		1307	StickNick = 0;
		1308	StickRoll = 0;
		1309	}
2616	holgerb	1310	if(++delay_ausschalten > 250 \|\| Partner_StatusFlags3 & FC_STATUS3_MOTORS_STOPPED_BY_RC) // nicht sofort oder wenn der Partner schon aus ist
1521	killagreg	1311	{
2616	holgerb	1312	FC_StatusFlags3 \|= FC_STATUS3_MOTORS_STOPPED_BY_RC; // that informs the slave to disarm the Motors
		1313	Delete_Stoppflag_Timer = 2; // 1-2 seconds
2672	holgerb	1314	if(!NC_ErrorCode && modell_fliegt > 60 * 500 && MotorenEin) StoreLastDriftcompensation();
1521	killagreg	1315	MotorenEin = 0;
		1316	delay_ausschalten = 0;
		1317	modell_fliegt = 0;
2349	holgerb	1318	FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF \| FC_STATUS2_AUTO_STARTING \| FC_STATUS2_AUTO_LANDING);
		1319	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		1320	SpeakHoTT = SPEAK_MK_OFF;
		1321	#endif
1521	killagreg	1322	}
2366	holgerb	1323	else
		1324	if(delay_ausschalten == 100) beeptime = 3500;
1521	killagreg	1325	}
		1326	else delay_ausschalten = 0;
		1327	}
2369	holgerb	1328	if(GasIsZeroCnt < 1000)
		1329	{
		1330	if(VarioMeter > -150) GasIsZeroCnt++;
		1331	else if(GasIsZeroCnt) GasIsZeroCnt--;
		1332	}
2230	holgerb	1333	}
2146	holgerb	1334	else // gas not at minimum
2230	holgerb	1335	{
		1336	move_safety_switch = 0;
		1337	GasIsZeroCnt = 0;
		1338	}
1	ingob	1339	}
2230	holgerb	1340	else // Empfang zwischen 100 und 140 -> schlecht
		1341	{
		1342	if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost
		1343	{
		1344	if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed?
		1345	{
		1346	GasIsZeroCnt = 30000;
		1347	if(modell_fliegt > 1001) modell_fliegt = 1001;
		1348	}
		1349	}
		1350	}
1051	killagreg	1351	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1352	// neue Werte von der Funke
1051	killagreg	1353	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216	killagreg	1354
1765	killagreg	1355	if(!NewPpmData-- \|\| (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
1	ingob	1356	{
604	hbuss	1357	static int stick_nick,stick_roll;
1912	holgerb	1358	unsigned char stick_p;
2601	holgerb	1359	NewPpmData = 15; // wait max 30ms or when a new PPM-Frame arrives
1	ingob	1360	ParameterZuordnung();
2499	holgerb	1361	ChannelAssingment();
1912	holgerb	1362	stick_p = EE_Parameter.Stick_P;
2496	holgerb	1363	stick_nick = (stick_nick * 3 + ChannelNick * stick_p) / 4;
		1364	stick_roll = (stick_roll * 3 + ChannelRoll * stick_p) / 4;
		1365	cli();
723	hbuss	1366	stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
		1367	stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
2496	holgerb	1368	sei();
		1369	StickGas = ChannelGas + 127;
723	hbuss	1370
1707	holgerb	1371	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		1372	// CareFree und freie Wahl der vorderen Richtung
		1373	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1865	holgerb	1374	if(CareFree)
		1375	{
		1376	signed int nick, roll;
		1377	nick = stick_nick / 4;
		1378	roll = stick_roll / 4;
		1379	StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4);
		1380	StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4);
		1381	}
		1382	else
		1383	{
		1384	FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6];
		1385	FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle];
		1386	StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8;
		1387	StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8;
		1388	}
1662	killagreg	1389
2496	holgerb	1390	StickGier = -ChannelYaw;
1840	holgerb	1391	if(StickGier > 4) StickGier -= 4; else
		1392	if(StickGier < -4) StickGier += 4; else StickGier = 0;
1120	hbuss	1393
2369	holgerb	1394	if(GasIsZeroCnt > 512) // About to switch - off
		1395	{
		1396	StickNick = StickNick/8;
		1397	StickRoll = StickRoll/8;
		1398	SummeNick = 0;
		1399	SummeRoll = 0;
		1400	}
		1401	else
1945	holgerb	1402	if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger
		1403	{
		1404	StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16;
		1405	StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16;
		1406	}
1912	holgerb	1407	StickNick -= GPS_Nick;
		1408	StickRoll -= GPS_Roll;
1330	killagreg	1409
1153	hbuss	1410	GyroFaktor = (Parameter_Gyro_P + 10.0);
		1411	IntegralFaktor = Parameter_Gyro_I;
1322	hbuss	1412	GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0);
		1413	IntegralFaktorGier = Parameter_Gyro_Gier_I;
1	ingob	1414
1330	killagreg	1415
1916	holgerb	1416	if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0;
723	hbuss	1417
1051	killagreg	1418	if(abs(StickNick/STICK_GAIN) > MaxStickNick)
928	hbuss	1419	{
1051	killagreg	1420	MaxStickNick = abs(StickNick)/STICK_GAIN;
928	hbuss	1421	if(MaxStickNick > 100) MaxStickNick = 100;
1051	killagreg	1422	}
928	hbuss	1423	else MaxStickNick--;
1051	killagreg	1424	if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
928	hbuss	1425	{
1051	killagreg	1426	MaxStickRoll = abs(StickRoll)/STICK_GAIN;
928	hbuss	1427	if(MaxStickRoll > 100) MaxStickRoll = 100;
1051	killagreg	1428	}
928	hbuss	1429	else MaxStickRoll--;
1765	killagreg	1430	if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;}
395	hbuss	1431	} // Ende neue Funken-Werte
		1432
1051	killagreg	1433	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		1434	// Bei Empfangsausfall im Flug
		1435	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1916	holgerb	1436	if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)
		1437	{
		1438	StickNick = -GPS_Nick;
		1439	StickRoll = -GPS_Roll;
2230	holgerb	1440	StickGas = StickGasHover;
2407	holgerb	1441	StickGier = 0;
1916	holgerb	1442	Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD \| CFG_DREHRATEN_BEGRENZER);
2721	holgerb	1443	Parameter_GlobalConfig \|= CFG_HOEHENREGELUNG \| CFG_KOMPASS_AKTIV \| CFG_GPS_AKTIV \| CFG_HOEHEN_SCHALTER;
1916	holgerb	1444	Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT \| CFG_LEARNABLE_CAREFREE \| CFG2_VARIO_BEEP);
		1445	Parameter_HoehenSchalter = 200; // switch on
		1446	}
		1447	else
1765	killagreg	1448	if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)
1	ingob	1449	{
		1450	StickGier = 0;
		1451	StickNick = 0;
		1452	StickRoll = 0;
1211	hbuss	1453	GyroFaktor = 90;
		1454	IntegralFaktor = 120;
		1455	GyroFaktorGier = 90;
		1456	IntegralFaktorGier = 120;
1051	killagreg	1457	}
		1458	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1459	// Integrale auf ACC-Signal abgleichen
1051	killagreg	1460	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395	hbuss	1461	#define ABGLEICH_ANZAHL 256L
		1462
		1463	MittelIntegralNick += IntegralNick; // F�r die Mittelwertbildung aufsummieren
		1464	MittelIntegralRoll += IntegralRoll;
		1465
2732	holgerb	1466
1051	killagreg	1467	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2732	holgerb	1468	if((Aktuell_az > 512 \|\| MotorenEin))
469	hbuss	1469	{
		1470	long tmp_long, tmp_long2;
1839	holgerb	1471	if(FromNaviCtrl_Value.Kalman_K > 0 /&& !TrichterFlug/)
992	hbuss	1472	{
1944	holgerb	1473	tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN));
		1474	tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR));
		1475	tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
		1476	tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
		1477	if((MaxStickNick > 64) \|\| (MaxStickRoll > 64))
		1478	{
		1479	tmp_long /= 2;
		1480	tmp_long2 /= 2;
		1481	}
2309	holgerb	1482	if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
1944	holgerb	1483	if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
		1484	if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
		1485	if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
992	hbuss	1486	}
1051	killagreg	1487	else
992	hbuss	1488	{
1944	holgerb	1489	tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
		1490	tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
		1491	tmp_long /= 16;
		1492	tmp_long2 /= 16;
		1493	if((MaxStickNick > 64) \|\| (MaxStickRoll > 64))
		1494	{
		1495	tmp_long /= 3;
		1496	tmp_long2 /= 3;
		1497	}
2496	holgerb	1498	if(abs(ChannelYaw) > 25)
1944	holgerb	1499	{
		1500	tmp_long /= 3;
		1501	tmp_long2 /= 3;
		1502	}
		1503	KompassFusion = 25;
1155	hbuss	1504	#define AUSGLEICH 32
1944	holgerb	1505	if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH;
		1506	if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH;
		1507	if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH;
		1508	if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH;
992	hbuss	1509	}
1166	hbuss	1510
2481	holgerb	1511	Mess_IntegralNick -= tmp_long;
		1512	Mess_IntegralRoll -= tmp_long2;
		1513	DriftNick += tmp_long;
		1514	DriftRoll += tmp_long2;
469	hbuss	1515	}
1051	killagreg	1516	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2499	holgerb	1517	if(ZaehlMessungen >= ABGLEICH_ANZAHL) //alle 512ms
395	hbuss	1518	{
2481	holgerb	1519	// static int cnt = 0;
		1520	// static char last_n_p,last_n_n,last_r_p,last_r_n;
395	hbuss	1521	static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt;
2481	holgerb	1522	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		1523	// Gyro-Drift ermitteln
		1524	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		1525	if(EE_Parameter.Driftkomp && abs(Mittelwert_AccNick) < 2004 && abs(Mittelwert_AccRoll) < 2004 && !TrichterFlug && abs(MesswertGier) < 32/* && (FC_StatusFlags & FC_STATUS_FLY)*/)
		1526	{
		1527	DriftNick -= DriftNick / (64 * (unsigned int) EE_Parameter.Driftkomp);
		1528	DriftRoll -= DriftRoll / (64 * (unsigned int) EE_Parameter.Driftkomp);
		1529	GierGyroFehler -= GierGyroFehler / (64 * (unsigned int) EE_Parameter.Driftkomp);
2496	holgerb	1530	if((MaxStickNick > 64) \|\| (MaxStickRoll > 64) \|\| (abs(ChannelYaw) > 25))
2481	holgerb	1531	{
		1532	DriftNick /= 2;
		1533	DriftRoll /= 2;
		1534	GierGyroFehler = 0;
		1535	}
		1536	if(DriftNick > 3000) { DriftNick = 0; AdNeutralNick++;}
		1537	if(DriftNick <-3000) { DriftNick = 0; AdNeutralNick--;}
		1538	if(DriftRoll > 3000) { DriftRoll = 0; AdNeutralRoll++;}
		1539	if(DriftRoll <-3000) { DriftRoll = 0; AdNeutralRoll--;}
		1540	if(GierGyroFehler > 3500) { GierGyroFehler = 0; AdNeutralGier++; }
		1541	if(GierGyroFehler <-3500) { GierGyroFehler = 0; AdNeutralGier--; }
2672	holgerb	1542
		1543	if(AdNeutralNick > BoatNeutralNick + MAX_DRIFT_NR) AdNeutralRoll = BoatNeutralNick + MAX_DRIFT_NR;
		1544	if(AdNeutralNick < BoatNeutralNick - MAX_DRIFT_NR) AdNeutralRoll = BoatNeutralNick - MAX_DRIFT_NR;
		1545	if(AdNeutralRoll > BoatNeutralRoll + MAX_DRIFT_NR) AdNeutralRoll = BoatNeutralRoll + MAX_DRIFT_NR;
		1546	if(AdNeutralRoll < BoatNeutralRoll - MAX_DRIFT_NR) AdNeutralRoll = BoatNeutralRoll - MAX_DRIFT_NR;
		1547	if(AdNeutralGier > BoatNeutralGier + MAX_DRIFT_YAW) AdNeutralGier = BoatNeutralGier + MAX_DRIFT_YAW;
		1548	if(AdNeutralGier < BoatNeutralGier - MAX_DRIFT_YAW) AdNeutralGier = BoatNeutralGier - MAX_DRIFT_YAW;
2481	holgerb	1549	}
		1550	else
		1551	{
		1552	DriftNick = 0;
		1553	DriftRoll = 0;
		1554	GierGyroFehler = 0;
		1555	}
		1556	TrichterFlug = 0;
		1557
498	hbuss	1558	if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
1051	killagreg	1559	// +++++++++++++++++++++++++++++++++++++++++++++++++++++
		1560	MittelIntegralNick_Alt = MittelIntegralNick;
		1561	MittelIntegralRoll_Alt = MittelIntegralRoll;
		1562	// +++++++++++++++++++++++++++++++++++++++++++++++++++++
395	hbuss	1563	MittelIntegralNick = 0;
		1564	MittelIntegralRoll = 0;
		1565	ZaehlMessungen = 0;
1173	hbuss	1566	} // ZaehlMessungen >= ABGLEICH_ANZAHL
395	hbuss	1567
1051	killagreg	1568	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1569	// Gieren
1051	killagreg	1570	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1840	holgerb	1571	if(abs(StickGier) > 3) // war 15
1	ingob	1572	{
1839	holgerb	1573	// KompassSignalSchlecht = 1000;
1916	holgerb	1574	if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX))
1051	killagreg	1575	{
1840	holgerb	1576	NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen
824	hbuss	1577	};
1	ingob	1578	}
1944	holgerb	1579	tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx�
		1580	tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4;
2309	holgerb	1581	if(GasIsZeroCnt > 512) tmp_int = 0; // disable Yawing when Gas-Stick is to Zero
1840	holgerb	1582	tmp_int += CompassGierSetpoint;
173	holgerb	1583	sollGier = tmp_int;
1051	killagreg	1584	Mess_Integral_Gier -= tmp_int;
395	hbuss	1585	if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen
		1586	if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
1051	killagreg	1587
		1588	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1589	// Kompass
1051	killagreg	1590	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1916	holgerb	1591	if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV))
1	ingob	1592	{
1839	holgerb	1593	if(CalculateCompassTimer-- == 1)
		1594	{
		1595	int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt
		1596	CalculateCompassTimer = 13; // falls keine Navi-Daten
1840	holgerb	1597	// max. Korrekturwert sch�tzen
1	ingob	1598	w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
		1599	v = abs(IntegralRoll /512);
		1600	if(v > w) w = v; // gr�sste Neigung ermitteln
1972	holgerb	1601	// korrektur = w / 4 + 1;
		1602	korrektur = w / 8 + 2;
1941	holgerb	1603	ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR;
1840	holgerb	1604	// Kompassfehlerwert bestimmen
1941	holgerb	1605	fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180;
1840	holgerb	1606	// GIER_GRAD_FAKTOR ist ca. 1200
		1607	// Kompasswert einloggen
2439	holgerb	1608	if(NeueKompassRichtungMerken) KompassSollWert = ErsatzKompassInGrad;
		1609
1840	holgerb	1610	if(KompassSignalSchlecht) KompassSignalSchlecht--;
		1611	else
		1612	if(w < 25)
921	hbuss	1613	{
		1614	GierGyroFehler += fehler;
2439	holgerb	1615	if(NeueKompassRichtungMerken) NeueKompassRichtungMerken--;
1	ingob	1616	}
1840	holgerb	1617	// Kompass fusionieren
1839	holgerb	1618	if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur;
1941	holgerb	1619	// MK Gieren
		1620	if(!NeueKompassRichtungMerken)
1839	holgerb	1621	{
1941	holgerb	1622	r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180;
1839	holgerb	1623	v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten
1840	holgerb	1624	CompassGierSetpoint = v / 16;
		1625	}
1865	holgerb	1626	else CompassGierSetpoint = 0;
1839	holgerb	1627	} // CalculateCompassTimer
1051	killagreg	1628	}
1840	holgerb	1629	else CompassGierSetpoint = 0;
1972	holgerb	1630
		1631	//DebugOut.Analog[16] = KompassFusion;
1051	killagreg	1632	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1633	// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
1051	killagreg	1634	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216	killagreg	1635	if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;};
604	hbuss	1636
2732	holgerb	1637	IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN);
		1638	IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN);
1153	hbuss	1639
1167	hbuss	1640	#define TRIM_MAX 200
1166	hbuss	1641	if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
		1642	if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
1153	hbuss	1643
1166	hbuss	1644	MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
		1645	MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
1211	hbuss	1646	MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
1166	hbuss	1647
1	ingob	1648	// Maximalwerte abfangen
1685	holgerb	1649	#define MAX_SENSOR (4096)
1216	killagreg	1650	if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR;
1	ingob	1651	if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
		1652	if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR;
		1653	if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
		1654	if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR;
		1655	if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
		1656
1051	killagreg	1657	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2390	holgerb	1658	// Undervoltage
		1659	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		1660	if(!(FC_StatusFlags & FC_STATUS_LOWBAT))
		1661	{
		1662	GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
		1663	}
		1664	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		1665	// Auto-Landing
		1666	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		1667	static unsigned char slower;
		1668	if(!slower--)
		1669	{
2402	holgerb	1670	static unsigned int u_filter = 0;
		1671	if(!u_filter) u_filter = UBat;
		1672	if(UBat > u_filter) u_filter++; else
		1673	if(UBat < u_filter) u_filter--;
		1674	slower = 100; // 5Hz
2416	holgerb	1675	if(u_filter < BattAutoLandingVoltage)
2390	holgerb	1676	{
2402	holgerb	1677	LowVoltageLandingActive = 10; // 2 sek
2541	holgerb	1678	ServoFailsafeActive = SERVO_FS_TIME;
2390	holgerb	1679	}
2416	holgerb	1680	else if(u_filter > BattAutoLandingVoltage + LipoCells && LowVoltageLandingActive) LowVoltageLandingActive--;
2408	holgerb	1681
2416	holgerb	1682	if(u_filter < BattComingHomeVoltage)
2408	holgerb	1683	{
		1684	LowVoltageHomeActive = 25; // min. 5 sek
		1685	}
2416	holgerb	1686	else if(u_filter > BattComingHomeVoltage + LipoCells && LowVoltageHomeActive) LowVoltageHomeActive--;
2390	holgerb	1687	}
		1688	if(LowVoltageLandingActive && FromNC_AltitudeSetpoint >= 0)
		1689	{
		1690	FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed;
2541	holgerb	1691	if(HoehenWert > 15100) FromNC_AltitudeSpeed = 2; // faster above 15m
2390	holgerb	1692	FromNC_AltitudeSetpoint = -20000;
		1693	}
		1694	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2427	holgerb	1695	// send SPI pending bytes
		1696	if(BytegapSPI == 0) SPI_TransmitByte();
2680	holgerb	1697
2427	holgerb	1698	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	1699	// H�henregelung
1051	killagreg	1700	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
855	hbuss	1701	GasMischanteil *= STICK_GAIN;
2427	holgerb	1702	// if height control is activated
2732	holgerb	1703	if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(VersionInfo.HardwareError[0] & 0x7F)) // H�henregelung
1309	hbuss	1704	{
1698	holgerb	1705	#define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging
1332	hbuss	1706	#define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging
1638	holgerb	1707
2309	holgerb	1708	int HCGas, GasReduction = 0;
1309	hbuss	1709	static int HeightTrimming = 0; // rate for change of height setpoint
2309	holgerb	1710	static int HeightDeviation = 0, FilterHCGas = 0;
1587	killagreg	1711	static unsigned long HoverGasFilter = 0;
1322	hbuss	1712	static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
		1713	// Expand the measurement
		1714	// measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
		1715	if(!BaroExpandActive)
		1716	{
		1717	if(MessLuftdruck > 920)
		1718	{ // increase offset
1330	killagreg	1719	if(OCR0A < (255 - OPA_OFFSET_STEP))
1322	hbuss	1720	{
		1721	ExpandBaro -= 1;
2657	holgerb	1722	BaroExpandCnt -= 50;
1322	hbuss	1723	OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
2367	holgerb	1724	OCR0B = 255 - OCR0A;
1322	hbuss	1725	beeptime = 300;
2497	holgerb	1726	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		1727	if(ACC_AltitudeControl) BaroExpandActive = 50;
		1728	else
		1729	#endif
		1730	BaroExpandActive = 350;
2367	holgerb	1731	CalcExpandBaroStep();
1330	killagreg	1732	}
		1733	else
1322	hbuss	1734	{
		1735	BaroAtLowerLimit = 1;
		1736	}
		1737	}
		1738	// measurement of air pressure close to lower limit and
1330	killagreg	1739	else
1322	hbuss	1740	if(MessLuftdruck < 100)
		1741	{ // decrease offset
1330	killagreg	1742	if(OCR0A > OPA_OFFSET_STEP)
1322	hbuss	1743	{
		1744	ExpandBaro += 1;
2657	holgerb	1745	BaroExpandCnt += 50; // is decere
1322	hbuss	1746	OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
2367	holgerb	1747	OCR0B = 255 - OCR0A;
1322	hbuss	1748	beeptime = 300;
2497	holgerb	1749	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		1750	if(ACC_AltitudeControl) BaroExpandActive = 50;
		1751	else
		1752	#endif
		1753	BaroExpandActive = 350;
2367	holgerb	1754	CalcExpandBaroStep();
1330	killagreg	1755	}
		1756	else
1322	hbuss	1757	{
		1758	BaroAtUpperLimit = 1;
		1759	}
		1760	}
1330	killagreg	1761	else
1322	hbuss	1762	{
		1763	BaroAtUpperLimit = 0;
		1764	BaroAtLowerLimit = 0;
		1765	}
		1766	}
		1767	else // delay, because of expanding the Baro-Range
		1768	{
		1769	// now clear the D-values
2316	holgerb	1770	VarioMeter = 0;
2497	holgerb	1771	cli();
2309	holgerb	1772	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2316	holgerb	1773	if(ACC_AltitudeControl) ACC_AltitudeFusion(1); // init
2309	holgerb	1774	else SummenHoehe = HoehenWert * SM_FILTER;
		1775	#else
		1776	SummenHoehe = HoehenWert * SM_FILTER;
		1777	#endif
2497	holgerb	1778	sei();
1322	hbuss	1779	BaroExpandActive--;
2657	holgerb	1780	if(abs(BaroExpandCnt) > 75) VersionInfo.HardwareError[0] \|= FC_ERROR0_PRESSURE; // defective Baro-Sensor detected
1322	hbuss	1781	}
1328	hbuss	1782	// if height control is activated by an rc channel
1916	holgerb	1783	if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird �ber Schalter gesteuert
1328	hbuss	1784	{ // check if parameter is less than activation threshold
1916	holgerb	1785	if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position
1328	hbuss	1786	{ //height control not active
		1787	if(!delay--)
		1788	{
2090	holgerb	1789	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2263	holgerb	1790	if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF;
2090	holgerb	1791	#endif
1328	hbuss	1792	HoehenReglerAktiv = 0; // disable height control
		1793	SollHoehe = HoehenWert; // update SetPoint with current reading
		1794	delay = 1;
		1795	}
		1796	}
		1797	else
2090	holgerb	1798	if(Parameter_HoehenSchalter > 70)
1328	hbuss	1799	{ //height control is activated
2090	holgerb	1800	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2263	holgerb	1801	if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON;
2090	holgerb	1802	#endif
2263	holgerb	1803	delay = 200;
1328	hbuss	1804	HoehenReglerAktiv = 1; // enable height control
		1805	}
1051	killagreg	1806	}
1309	hbuss	1807	else // no switchable height control
		1808	{
2496	holgerb	1809	SollHoehe = (/(int16_t) ExternHoehenValue + /(int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung;
1309	hbuss	1810	HoehenReglerAktiv = 1;
1051	killagreg	1811	}
1320	hbuss	1812	// calculate cos of nick and roll angle used for projection of the vertical hoover gas
1330	killagreg	1813	tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg
		1814	tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg
2486	holgerb	1815	tmp_int = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
		1816	tmp_int = (tmp_int * Parameter_Hoehe_TiltCompensation) / 100;
		1817	LIMIT_MAX(tmp_int, 60); // limit effective attitude angle
		1818	CosAttitude = c_cos_8192(tmp_int); // cos of actual attitude
1591	holgerb	1819	VarioCharacter = ' ';
1942	holgerb	1820	AltitudeSetpointTrimming = 0;
1765	killagreg	1821	if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
1309	hbuss	1822	{
		1823	// Holger original version
		1824	// start of height control algorithm
		1825	// the height control is only an attenuation of the actual gas stick.
		1826	// I.e. it will work only if the gas stick is higher than the hover gas
		1827	// and the hover height will be allways larger than height setpoint.
1861	holgerb	1828	FC_StatusFlags2 \|= FC_STATUS2_ALTITUDE_CONTROL;
1916	holgerb	1829	if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) \|\| !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird �ber Schalter gesteuert)
1314	killagreg	1830	{ // old version
1309	hbuss	1831	HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
		1832	HeightTrimming = 0;
1942	holgerb	1833	AltitudeSetpointTrimming = 0;
1773	killagreg	1834	// set both flags to indicate no vario mode
		1835	FC_StatusFlags \|= (FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN);
1309	hbuss	1836	}
1314	killagreg	1837	else
1309	hbuss	1838	{
		1839	// alternative height control
		1840	// PD-Control with respect to hoover point
		1841	// the thrust loss out of horizontal attitude is compensated
		1842	// the setpoint will be fine adjusted with the gas stick position
2390	holgerb	1843	if(/1 \|\| /FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying
1309	hbuss	1844	{ // gas stick is above hoover point
1587	killagreg	1845	if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
1309	hbuss	1846	{
1767	killagreg	1847	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN)
1309	hbuss	1848	{
1767	killagreg	1849	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;
2309	holgerb	1850	SollHoehe = HoehenWertF; // update setpoint to current heigth
1309	hbuss	1851	}
1966	holgerb	1852	// Limit the maximum Altitude
2381	holgerb	1853	if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude))
		1854	{
		1855	AltitudeSetpointTrimming = 0;
		1856	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		1857	if(!SpeakHoTT && HoehenWert/95 > Parameter_MaximumAltitude) SpeakHoTT = SPEAK_MAX_ALTITUD;
		1858	#endif
		1859	VarioCharacter = '=';
		1860	}
1966	holgerb	1861	else
		1862	{
2381	holgerb	1863	if(HeightDeviation > 20) SollHoehe = HoehenWertF; // update setpoint to current heigth
		1864	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_UP;
1942	holgerb	1865	AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));
2390	holgerb	1866	if(LowVoltageLandingActive) AltitudeSetpointTrimming /= 3; // only 33% rising
1591	holgerb	1867	VarioCharacter = '+';
1966	holgerb	1868	}
1865	holgerb	1869	WaypointTrimming = 0;
1309	hbuss	1870	} // gas stick is below hoover point
2390	holgerb	1871	else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) // Minus
1309	hbuss	1872	{
2471	holgerb	1873	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP \|\| (HeightDeviation < -300))
1309	hbuss	1874	{
1767	killagreg	1875	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;
2309	holgerb	1876	SollHoehe = HoehenWertF; // update setpoint to current heigth
1309	hbuss	1877	}
1767	killagreg	1878	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_DOWN;
1942	holgerb	1879	AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
1591	holgerb	1880	VarioCharacter = '-';
1865	holgerb	1881	WaypointTrimming = 0;
1309	hbuss	1882	}
1587	killagreg	1883	else // Gas Stick in Hover Range
1309	hbuss	1884	{
1855	holgerb	1885	VarioCharacter = '=';
1857	holgerb	1886	if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen
1855	holgerb	1887	{
		1888	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_UP;
1942	holgerb	1889	AltitudeSetpointTrimming = FromNC_AltitudeSpeed;
		1890	//HeightTrimming += FromNC_AltitudeSpeed;
1857	holgerb	1891	WaypointTrimming = 10;
		1892	VarioCharacter = '^';
1865	holgerb	1893	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising
		1894	{
		1895	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;
2309	holgerb	1896	SollHoehe = HoehenWertF; // update setpoint to current heigth
1865	holgerb	1897	}
1855	holgerb	1898	}
		1899	else
1857	holgerb	1900	if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken
1855	holgerb	1901	{
		1902	FC_StatusFlags \|= FC_STATUS_VARIO_TRIM_DOWN;
1942	holgerb	1903	AltitudeSetpointTrimming = -FromNC_AltitudeSpeed;
		1904	//HeightTrimming -= FromNC_AltitudeSpeed;
1857	holgerb	1905	WaypointTrimming = -10;
		1906	VarioCharacter = 'v';
1865	holgerb	1907	if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking
		1908	{
		1909	FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;
2309	holgerb	1910	SollHoehe = HoehenWertF; // update setpoint to current heigth
1865	holgerb	1911	}
1855	holgerb	1912	}
		1913	else
1767	killagreg	1914	if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN))
1309	hbuss	1915	{
2309	holgerb	1916	if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-200), (HoehenWertF+200)) // max. 2m Unterschied
1933	holgerb	1917	else WaypointTrimming = 0;
1767	killagreg	1918	FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN);
1309	hbuss	1919	HeightTrimming = 0;
1916	holgerb	1920	if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500;
1698	holgerb	1921	if(!StartTrigger && HoehenWert > 50)
		1922	{
		1923	StartTrigger = 1;
1765	killagreg	1924	}
1309	hbuss	1925	}
		1926	}
		1927	// Trim height set point
1942	holgerb	1928	HeightTrimming += AltitudeSetpointTrimming;
		1929	if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz
1309	hbuss	1930	{
1857	holgerb	1931	if(WaypointTrimming)
		1932	{
		1933	if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint;
		1934	else SollHoehe += WaypointTrimming;
		1935	}
		1936	else
1966	holgerb	1937	{
		1938	if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3;
		1939	else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3;
		1940	}
1309	hbuss	1941	HeightTrimming = 0;
2471	holgerb	1942	LIMIT_MIN_MAX(HoehenWertF, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied
2680	holgerb	1943	LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-1500), (HoehenWertF+1500)); // max. 15m Unterschied
1916	holgerb	1944	if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100;
1320	hbuss	1945	//update hoover gas stick value when setpoint is shifted
2427	holgerb	1946	if(FromNC_AltitudeSpeed == 0) CalcStickGasHover();
		1947	/*
1857	holgerb	1948	if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0)
1332	hbuss	1949	{
1587	killagreg	1950	StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value
2427	holgerb	1951	StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning;
1587	killagreg	1952	if(StickGasHover < 70) StickGasHover = 70;
2427	holgerb	1953	else if(StickGasHover > 175) StickGasHover = 175;
1332	hbuss	1954	}
2427	holgerb	1955	*/
1309	hbuss	1956	}
2309	holgerb	1957	if(BaroExpandActive) SollHoehe = HoehenWertF; // update setpoint to current altitude if Expanding is active
1420	killagreg	1958	} //if FCFlags & MKFCFLAG_FLY
1330	killagreg	1959	else
		1960	{
2466	holgerb	1961	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2462	holgerb	1962	ACC_AltitudeFusion(1); // init the ACC and Altitude fusion
2466	holgerb	1963	#endif
2471	holgerb	1964	SollHoehe = HoehenWertF - 2000;
		1965
1587	killagreg	1966	if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
2427	holgerb	1967	else StickGasHover = 127;
1698	holgerb	1968	HoverGas = GasMischanteil;
1972	holgerb	1969	VarioCharacter = '.';
1320	hbuss	1970	}
1590	killagreg	1971	HCGas = HoverGas; // take hover gas (neutral point)
		1972	}
2309	holgerb	1973	if(HoehenWertF > SollHoehe \|\| !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT))
1283	hbuss	1974	{
2316	holgerb	1975	if(!ACC_AltitudeControl)
		1976	{
1590	killagreg	1977	// from this point the Heigth Control Algorithm is identical for both versions
		1978	if(BaroExpandActive) // baro range expanding active
		1979	{
		1980	HCGas = HoverGas; // hover while expanding baro adc range
		1981	HeightDeviation = 0;
		1982	} // EOF // baro range expanding active
		1983	else // valid data from air pressure sensor
		1984	{
		1985	// ------------------------- P-Part ----------------------------
2309	holgerb	1986	tmp_long = (HoehenWertF - SollHoehe); // positive when too high
1590	killagreg	1987	LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t
		1988	HeightDeviation = (int)(tmp_long); // positive when too high
1695	holgerb	1989	tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part
1698	holgerb	1990	LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense
		1991	GasReduction = tmp_long;
1590	killagreg	1992	// ------------------------- D-Part 1: Vario Meter ----------------------------
		1993	tmp_int = VarioMeter / 8;
1765	killagreg	1994	LIMIT_MIN_MAX(tmp_int, -127, 128);
1705	holgerb	1995	tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter
		1996	LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN);
1767	killagreg	1997	if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint
1765	killagreg	1998	else
1916	holgerb	1999	if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode
1698	holgerb	2000	GasReduction += tmp_int;
1590	killagreg	2001	} // EOF no baro range expanding
1309	hbuss	2002	// ------------------------ D-Part 2: ACC-Z Integral ------------------------
1698	holgerb	2003	if(Parameter_Hoehe_ACC_Wirkung)
		2004	{
		2005	tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN);
		2006	LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN);
		2007	GasReduction += tmp_long;
1765	killagreg	2008	}
2486	holgerb	2009	/* // ------------------------ D-Part 3: GpsZ ----------------------------------
1588	killagreg	2010	tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L;
		2011	LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN);
1698	holgerb	2012	GasReduction += tmp_int;
2486	holgerb	2013	*/
1701	holgerb	2014	GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value
2309	holgerb	2015
1701	holgerb	2016	// ------------------------ ----------------------------------
		2017	HCGas -= GasReduction;
1309	hbuss	2018	// limit deviation from hoover point within the target region
1942	holgerb	2019	if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero
1309	hbuss	2020	{
1765	killagreg	2021	unsigned int tmp;
1705	holgerb	2022	tmp = abs(HeightDeviation);
		2023	if(tmp <= 60)
		2024	{
		2025	LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point
		2026	}
		2027	else
1765	killagreg	2028	{
1705	holgerb	2029	tmp = (tmp - 60) / 32;
1692	holgerb	2030	if(tmp > 15) tmp = 15;
1705	holgerb	2031	if(HeightDeviation > 0)
1693	holgerb	2032	{
1705	holgerb	2033	tmp = (HoverGasMin * (16 - tmp)) / 16;
		2034	LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point
1693	holgerb	2035	}
1705	holgerb	2036	else
		2037	{
		2038	tmp = (HoverGasMax * (tmp + 16)) / 16;
		2039	LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point
		2040	}
		2041	}
1309	hbuss	2042	}
1322	hbuss	2043	// strech control output by inverse attitude projection 1/cos
		2044	// + 1/cos(angle) ++++++++++++++++++++++++++
1330	killagreg	2045	tmp_long2 = (int32_t)HCGas;
		2046	tmp_long2 *= 8192L;
		2047	tmp_long2 /= CosAttitude;
		2048	HCGas = (int16_t)tmp_long2;
1309	hbuss	2049	// update height control gas averaging
		2050	FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
		2051	// limit height control gas pd-control output
		2052	LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
		2053	// set GasMischanteil to HeightControlGasFilter
1916	holgerb	2054	if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)
1587	killagreg	2055	{ // old version
		2056	LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas
1719	holgerb	2057	GasMischanteil = FilterHCGas;
1765	killagreg	2058	}
1719	holgerb	2059	else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode
2316	holgerb	2060	}
2320	holgerb	2061	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
2316	holgerb	2062	else // ACC-Altitude control
		2063	{
2309	holgerb	2064	// from this point the Heigth Control Algorithm is identical for both versions
		2065	if(BaroExpandActive) // baro range expanding active
		2066	{
		2067	HCGas = HoverGas; // hover while expanding baro adc range
		2068	HeightDeviation = 0;
		2069	} // EOF // baro range expanding active
		2070	else // valid data from air pressure sensor
		2071	{
		2072	// ------------------------- P-Part ----------------------------
		2073	tmp_long = (HoehenWertF - SollHoehe); // positive when too high
		2074	LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t
		2075	HeightDeviation = (int)(tmp_long); // positive when too high
		2076	tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part
		2077	LIMIT_MIN_MAX(tmp_long, -511 * STICK_GAIN, 512 * STICK_GAIN); // more than full range makes sense
		2078	GasReduction = tmp_long;
		2079	// ------------------------ D-Part: ACC-Z Integral ------------------------
2316	holgerb	2080	tmp_long = VarioMeter + (AdWertAccHoch * Parameter_Hoehe_ACC_Wirkung)/256;
2309	holgerb	2081	// ------------------------- D-Part: Vario Meter ----------------------------
		2082	if(WaypointTrimming) {
		2083	Variance = AltitudeSetpointTrimming * 8;
		2084	} else {
		2085	Variance = AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung*9/32;
		2086	}
		2087	tmp_long -= (long)Variance;
		2088	tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 32; // scale to d-gain parameter
		2089	LIMIT_MIN_MAX(tmp_long,-511 * STICK_GAIN, 512 * STICK_GAIN);
		2090	GasReduction += tmp_long;
		2091	} // EOF no baro range expanding
		2092	HCGas -= GasReduction;
		2093	LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limits gas around hover point
		2094	// strech control output by inverse attitude projection 1/cos
		2095	// + 1/cos(angle) ++++++++++++++++++++++++++
		2096	tmp_long2 = (int32_t)HCGas;
		2097	tmp_long2 *= 8192L;
		2098	tmp_long2 /= CosAttitude;
		2099	HCGas = (int16_t)tmp_long2;
		2100	// update height control gas averaging
		2101	FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
		2102	// limit height control gas pd-control output
2471	holgerb	2103	int min;
		2104	if(GasIsZeroCnt > 400 \|\| (FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF)) min = EE_Parameter.Gas_Min; else min = EE_Parameter.Hoehe_MinGas;
		2105	LIMIT_MIN_MAX(FilterHCGas, min * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN)
2309	holgerb	2106	// set GasMischanteil to HeightControlGasFilter
		2107	if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)
		2108	{ // old version
		2109	LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas
		2110	GasMischanteil = FilterHCGas;
		2111	}
2316	holgerb	2112	else GasMischanteil = FilterHCGas;
		2113	} // end of ACC-Altitude control
2320	holgerb	2114	#endif
1314	killagreg	2115	}
1309	hbuss	2116	}// EOF height control active
1320	hbuss	2117	else // HC not active
		2118	{
		2119	//update hoover gas stick value when HC is not active
2427	holgerb	2120	CalcStickGasHover();
		2121	/* if(!EE_Parameter.Hoehe_StickNeutralPoint)
1587	killagreg	2122	{
		2123	StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value
2427	holgerb	2124	StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning;
1322	hbuss	2125	}
1587	killagreg	2126	else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
2427	holgerb	2127	LIMIT_MIN_MAX(StickGasHover, 70, 175); // reserve some range for trim up and down
		2128	*/
1328	hbuss	2129	FilterHCGas = GasMischanteil;
1773	killagreg	2130	// set both flags to indicate no vario mode
		2131	FC_StatusFlags \|= (FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN);
1861	holgerb	2132	FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL;
1330	killagreg	2133	}
1587	killagreg	2134	// Hover gas estimation by averaging gas control output on small z-velocities
1309	hbuss	2135	// this is done only if height contol option is selected in global config and aircraft is flying
1765	killagreg	2136	if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING))
1309	hbuss	2137	{
2316	holgerb	2138	//if(HoverGasFilter == 0 \|\| StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
2318	holgerb	2139	if(HoverGasFilter == 0 \|\| StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(HoverGas); // 0.90f: ge�ndert
1698	holgerb	2140	if(StartTrigger == 1) StartTrigger = 2;
1330	killagreg	2141	tmp_long2 = (int32_t)GasMischanteil; // take current thrust
		2142	tmp_long2 *= CosAttitude; // apply attitude projection
		2143	tmp_long2 /= 8192;
1309	hbuss	2144	// average vertical projected thrust
1698	holgerb	2145	if(modell_fliegt < 4000) // the first 8 seconds
		2146	{ // reduce the time constant of averaging by factor of 4 to get much faster a stable value
		2147	HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L);
		2148	HoverGasFilter += 16L * tmp_long2;
1309	hbuss	2149	}
1698	holgerb	2150	if(modell_fliegt < 8000) // the first 16 seconds
		2151	{ // reduce the time constant of averaging by factor of 2 to get much faster a stable value
1590	killagreg	2152	HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L);
1587	killagreg	2153	HoverGasFilter += 4L * tmp_long2;
1309	hbuss	2154	}
1698	holgerb	2155	else //later
2316	holgerb	2156	if(abs(VarioMeter) < 100 && abs(HoehenWertF - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending)
1309	hbuss	2157	{
1590	killagreg	2158	HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE;
1587	killagreg	2159	HoverGasFilter += tmp_long2;
1309	hbuss	2160	}
1590	killagreg	2161	HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE);
1309	hbuss	2162	if(EE_Parameter.Hoehe_HoverBand)
		2163	{
		2164	int16_t band;
1587	killagreg	2165	band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
		2166	HoverGasMin = HoverGas - band;
		2167	HoverGasMax = HoverGas + band;
1309	hbuss	2168	}
		2169	else
		2170	{ // no limit
1587	killagreg	2171	HoverGasMin = 0;
		2172	HoverGasMax = 1023;
1309	hbuss	2173	}
1765	killagreg	2174	}
		2175	else
1698	holgerb	2176	{
		2177	StartTrigger = 0;
		2178	HoverGasFilter = 0;
		2179	HoverGas = 0;
1765	killagreg	2180	}
1916	holgerb	2181	}// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL
1773	killagreg	2182	else
		2183	{
		2184	// set undefined state to indicate vario off
		2185	FC_StatusFlags \|= (FC_STATUS_VARIO_TRIM_UP\|FC_STATUS_VARIO_TRIM_DOWN);
		2186	} // EOF no height control
		2187
2309	holgerb	2188	// Limits the maximum gas in case of "Out of Range emergency landing"
2009	holgerb	2189	if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING)
		2190	{
2028	holgerb	2191	if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN;
2309	holgerb	2192	SollHoehe = HoehenWertF; // update setpoint to current heigth
2009	holgerb	2193	}
2028	holgerb	2194	// limit gas to parameter setting
2680	holgerb	2195	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2196	if(TouchDownTimer > 9) GasMischanteil = 1; // gas runter
		2197	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1320	hbuss	2198	LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
855	hbuss	2199	if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
1051	killagreg	2200	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1320	hbuss	2201	// all BL-Ctrl connected?
		2202	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2616	holgerb	2203
2529	holgerb	2204	#ifndef REDUNDANT_FC_SLAVE
2418	holgerb	2205	if(MissingMotor \|\| Capacity.MinOfMaxPWM < 254 \|\| NC_ErrorCode) // wait until all BL-Ctrls started and no Errors
1931	holgerb	2206	if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase
1320	hbuss	2207	{
		2208	modell_fliegt = 1;
1675	holgerb	2209	GasMischanteil = (MIN_GAS + 10) * STICK_GAIN;
2382	holgerb	2210	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
		2211	if(Capacity.MinOfMaxPWM < 40) SpeakHoTT = SPEAK_ERR_MOTOR;
		2212	#endif
1320	hbuss	2213	}
2616	holgerb	2214	#else // ab hier : Slave
		2215	if(IamMaster == SLAVE)
		2216	{
		2217	if(Partner_StatusFlags3 & FC_STATUS3_MOTORS_STOPPED_BY_RC)
		2218	{
		2219	MotorenEin = 0;
		2220	modell_fliegt = 0;
		2221	FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING \| FC_STATUS_FLY);
		2222	SpeakHoTT = SPEAK_MK_OFF;
		2223	}
		2224	}
2529	holgerb	2225	#endif
2407	holgerb	2226
2427	holgerb	2227	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2228	// send SPI pending bytes
2407	holgerb	2229	if(BytegapSPI == 0) SPI_TransmitByte();
1320	hbuss	2230	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	2231	// + Mischer und PI-Regler
1051	killagreg	2232	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2491	holgerb	2233	DebugOut.Analog[7] = GasMischanteil; // achtung: Muss auf [7] bleiben wegen SPI.C
1051	killagreg	2234	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	2235	// Gier-Anteil
1051	killagreg	2236	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
855	hbuss	2237	GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler f�r Gier
		2238	#define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren
693	hbuss	2239	if(GasMischanteil > MIN_GIERGAS)
		2240	{
1051	killagreg	2241	if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
		2242	if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
693	hbuss	2243	}
1051	killagreg	2244	else
693	hbuss	2245	{
1051	killagreg	2246	if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2;
		2247	if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2);
693	hbuss	2248	}
855	hbuss	2249	tmp_int = MAX_GAS*STICK_GAIN;
1051	killagreg	2250	if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil));
855	hbuss	2251	if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil));
513	hbuss	2252
1051	killagreg	2253	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1	ingob	2254	// Nick-Achse
1051	killagreg	2255	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
723	hbuss	2256	DiffNick = MesswertNick - StickNick; // Differenz bestimmen
1153	hbuss	2257	if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung
1051	killagreg	2258	else SummeNick += DiffNick; // I-Anteil bei HH
855	hbuss	2259	if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L);
		2260	if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN);
1791	holgerb	2261
		2262	if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler f�r Nick
		2263	else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // �berlauf verhindern
		2264	pd_ergebnis_nick += SummeNick / Ki;
		2265
1676	holgerb	2266	tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153	hbuss	2267	if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int;
		2268	if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
173	holgerb	2269
1153	hbuss	2270	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2271	// Roll-Achse
		2272	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2273	DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen
		2274	if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
		2275	else SummeRoll += DiffRoll; // I-Anteil bei HH
		2276	if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L);
		2277	if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
1791	holgerb	2278
		2279	if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler f�r Roll
		2280	else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // �berlauf verhindern
		2281	pd_ergebnis_roll += SummeRoll / Ki;
		2282
1676	holgerb	2283	tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153	hbuss	2284	if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int;
		2285	if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
		2286
		2287	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2427	holgerb	2288	// send SPI pending bytes
		2289	if(BytegapSPI == 0) SPI_TransmitByte();
		2290	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2639	holgerb	2291	// Emergency switch-off
		2292	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2293	if(NCParachute)
		2294	{
		2295	MAX_GAS = 1;
2700	holgerb	2296	if(!beeptime) { beeptime = 10000; BeepMuster = 0x1300; }
		2297	if(NCParachute == (KM_BIT_SLOW \| KM_BIT_OFF))
2639	holgerb	2298	{
		2299	FC_StatusFlags3 \|= FC_STATUS3_MOTORS_STOPPED_BY_RC; // that informs the slave to disarm the Motors
		2300	Delete_Stoppflag_Timer = 2; // 1-2 seconds
		2301	MotorenEin = 0;
		2302	modell_fliegt = 0;
		2303	FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF \| FC_STATUS2_AUTO_STARTING \| FC_STATUS2_AUTO_LANDING);
		2304	SpeakHoTT = SPEAK_MK_OFF;
		2305	}
		2306	}
		2307	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1209	hbuss	2308	// Universal Mixer
1155	hbuss	2309	// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1642	killagreg	2310	for(i=0; i<MAX_MOTORS; i++)
		2311	{
		2312	signed int tmp_int;
		2313	if(Mixer.Motor[i][0] > 0)
		2314	{
1652	holgerb	2315	// Gas
1676	holgerb	2316	if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
1652	holgerb	2317	// Nick
		2318	if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick;
		2319	else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick;
		2320	else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
		2321	// Roll
		2322	if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll;
		2323	else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll;
		2324	else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
		2325	// Gier
1676	holgerb	2326	if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil;
		2327	else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil;
		2328	else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
2427	holgerb	2329	#ifdef REDUNDANT_FC_SLAVE
2418	holgerb	2330	tmp_int = (tmp_motorwert[i] + tmp_int) / 2;
		2331	#else
2386	holgerb	2332	if(Motor[i].Version & MOTOR_STATE_FAST_MODE \|\| tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // Beschleunigen
1913	holgerb	2333	else
2402	holgerb	2334	{ // BL-Ctrl 1.0 or 2.0
2386	holgerb	2335	if(EE_Parameter.MotorSmooth == 0)
1913	holgerb	2336	{
1931	holgerb	2337	tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing
1913	holgerb	2338	}
		2339	else // 1 means tmp_int = tmp_int;
2443	holgerb	2340	if(EE_Parameter.MotorSmooth > 1)
1913	holgerb	2341	{
2386	holgerb	2342	// If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value.
		2343	tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int) / EE_Parameter.MotorSmooth);
1913	holgerb	2344	}
		2345	}
2418	holgerb	2346	#endif
1760	holgerb	2347	LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4);
1676	holgerb	2348	Motor[i].SetPoint = tmp_int / 4;
1677	killagreg	2349	Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total)
1652	holgerb	2350	tmp_motorwert[i] = tmp_int;
1642	killagreg	2351	}
		2352	else
		2353	{
		2354	Motor[i].SetPoint = 0;
		2355	Motor[i].SetPointLowerBits = 0;
		2356	}
		2357	}
2529	holgerb	2358	#if (defined(REDUNDANT_FC_MASTER) \|\| defined(REDUNDANT_FC_SLAVE))
		2359	if(Parameter_UserParam6 > 230) // Motor1-Test
		2360	{
		2361	Motor[0].SetPoint = 0;
		2362	FC_StatusFlags3 \|= FC_STATUS3_REDUNDANCE_TEST;
		2363	}
		2364	else
		2365	if(Parameter_UserParam7 <= 150) // I2C-Test
		2366	{
		2367	FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_TEST;
		2368	}
2427	holgerb	2369	#endif
1111	hbuss	2370	}
2601	holgerb	2371	//DebugOut.Analog[]

Subversion Repositories FlightCtrl

(root)/tags/V2.20c/fc.c - Rev 2737