Subversion Repositories FlightCtrl

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1 ingob 1
/*#######################################################################################
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Flight Control
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#######################################################################################*/
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 13
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 16
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
1 ingob 17
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
22
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 27
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1 ingob 28
// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 32
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1 ingob 33
// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
886 killagreg 36
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
1 ingob 37
// +     for non-commercial use (directly or indirectly)
886 killagreg 38
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 39
// +     with our written permission
886 killagreg 40
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
831 hbuss 42
// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
1 ingob 43
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
1 ingob 51
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
886 killagreg 52
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 53
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 54
#include <stdlib.h>
55
#include <avr/io.h>
1 ingob 56
 
57
#include "main.h"
886 killagreg 58
#include "eeprom.h"
59
#include "timer0.h"
60
#include "_Settings.h"
61
#include "analog.h"
62
#include "fc.h"
63
#include "uart.h"
64
#include "rc.h"
65
#include "twimaster.h"
66
#include "timer2.h"
67
#ifdef USE_KILLAGREG
68
#include "mm3.h"
69
#include "gps.h"
70
#endif
908 killagreg 71
#ifdef USE_MK3MAG
886 killagreg 72
#include "mk3mag.h"
908 killagreg 73
#include "gps.h"
886 killagreg 74
#endif
75
#include "led.h"
1 ingob 76
 
886 killagreg 77
// gyro readings
936 killagreg 78
int16_t Reading_GyroNick, Reading_GyroRoll, Reading_GyroYaw;
886 killagreg 79
// gyro neutral readings
936 killagreg 80
int16_t AdNeutralNick = 0, AdNeutralRoll = 0, AdNeutralYaw = 0;
81
int16_t StartNeutralRoll = 0, StartNeutralNick = 0;
886 killagreg 82
// mean accelerations
936 killagreg 83
int16_t Mean_AccNick, Mean_AccRoll, Mean_AccTop;
886 killagreg 84
 
85
// neutral acceleration readings
86
volatile int16_t NeutralAccX=0, NeutralAccY=0;
1 ingob 87
volatile float NeutralAccZ = 0;
88
 
886 killagreg 89
// attitude gyro integrals
936 killagreg 90
int32_t IntegralNick = 0,IntegralNick2 = 0;
91
int32_t IntegralRoll = 0,IntegralRoll2 = 0;
92
int32_t IntegralYaw = 0;
93
int32_t Reading_IntegralGyroNick = 0, Reading_IntegralGyroNick2 = 0;
94
int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0;
95
int32_t Reading_IntegralGyroYaw = 0;
96
int32_t MeanIntegralNick;
97
int32_t MeanIntegralRoll;
1 ingob 98
 
886 killagreg 99
// attitude acceleration integrals
936 killagreg 100
int32_t IntegralAccNick = 0, IntegralAccRoll = 0;
886 killagreg 101
volatile int32_t Reading_Integral_Top = 0;
102
 
103
// compass course
104
volatile int16_t CompassHeading = -1; // negative angle indicates invalid data.
105
volatile int16_t CompassCourse = -1;
106
volatile int16_t CompassOffCourse = 0;
107
volatile uint8_t CompassCalState = 0;
108
uint8_t FunnelCourse = 0;
109
uint16_t BadCompassHeading = 500;
110
int32_t YawGyroHeading;
111
int16_t YawGyroDrift;
112
 
113
 
911 killagreg 114
int16_t NaviAccNick = 0, NaviAccRoll = 0, NaviCntAcc = 0;
886 killagreg 115
 
116
 
936 killagreg 117
// MK flags
886 killagreg 118
uint16_t Model_Is_Flying = 0;
936 killagreg 119
volatile uint8_t MKFlags = 0;
886 killagreg 120
 
911 killagreg 121
int32_t TurnOver180Nick = 250000L, TurnOver180Roll = 250000L;
886 killagreg 122
 
123
float Gyro_P_Factor;
124
float Gyro_I_Factor;
125
 
936 killagreg 126
int16_t  DiffNick, DiffRoll;
886 killagreg 127
 
128
int16_t  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
129
 
130
// setpoints for motors
131
volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left;
132
 
133
// stick values derived by rc channels readings
911 killagreg 134
int16_t StickNick = 0, StickRoll = 0, StickYaw = 0, StickGas = 0;
135
int16_t GPS_Nick = 0, GPS_Roll = 0;
886 killagreg 136
 
911 killagreg 137
int16_t MaxStickNick = 0, MaxStickRoll = 0;
886 killagreg 138
// stick values derived by uart inputs
911 killagreg 139
int16_t ExternStickNick = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20;
886 killagreg 140
 
141
 
142
 
143
 
144
int16_t ReadingHeight = 0;
145
int16_t SetPointHeight = 0;
146
 
911 killagreg 147
int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionNick = 0;
886 killagreg 148
 
149
float Ki =  FACTOR_I;
150
 
911 killagreg 151
uint8_t Looping_Nick = 0, Looping_Roll = 0;
886 killagreg 152
uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0;
153
 
154
 
155
fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100};
156
 
157
 
158
/************************************************************************/
159
/*  Creates numbeeps beeps at the speaker                               */
160
/************************************************************************/
161
void Beep(uint8_t numbeeps)
1 ingob 162
{
886 killagreg 163
        while(numbeeps--)
164
        {
936 killagreg 165
                if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren!
886 killagreg 166
                BeepTime = 100; // 0.1 second
167
                Delay_ms(250); // blocks 250 ms as pause to next beep,
168
                // this will block the flight control loop,
952 killagreg 169
                // therefore do not use this function if motors are running
886 killagreg 170
        }
1 ingob 171
}
172
 
886 killagreg 173
/************************************************************************/
174
/*  Neutral Readings                                                    */
175
/************************************************************************/
1 ingob 176
void SetNeutral(void)
177
{
886 killagreg 178
        NeutralAccX = 0;
1 ingob 179
        NeutralAccY = 0;
180
        NeutralAccZ = 0;
911 killagreg 181
    AdNeutralNick = 0;
886 killagreg 182
        AdNeutralRoll = 0;
183
        AdNeutralYaw = 0;
184
    FCParam.Yaw_PosFeedback = 0;
185
    FCParam.Yaw_NegFeedback = 0;
186
    CalibMean();
395 hbuss 187
    Delay_ms_Mess(100);
886 killagreg 188
        CalibMean();
189
    if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL))  // Height Control activated?
513 hbuss 190
    {
886 killagreg 191
                if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset();
513 hbuss 192
    }
911 killagreg 193
        AdNeutralNick = AdValueGyrNick;
886 killagreg 194
        AdNeutralRoll  = AdValueGyrRoll;
195
        AdNeutralYaw   = AdValueGyrYaw;
196
        StartNeutralRoll  = AdNeutralRoll;
911 killagreg 197
        StartNeutralNick = AdNeutralNick;
198
    if(GetParamWord(PID_ACC_NICK) > 1023)
513 hbuss 199
    {
886 killagreg 200
                NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY;
911 killagreg 201
                NeutralAccX = abs(Mean_AccNick) / ACC_AMPLIFY;
886 killagreg 202
                NeutralAccZ = Current_AccZ;
513 hbuss 203
    }
886 killagreg 204
    else
205
    {
911 killagreg 206
                NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK);
886 killagreg 207
            NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
208
            NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z);
209
    }
911 killagreg 210
        Reading_IntegralGyroNick = 0;
211
    Reading_IntegralGyroNick2 = 0;
886 killagreg 212
    Reading_IntegralGyroRoll = 0;
213
    Reading_IntegralGyroRoll2 = 0;
214
    Reading_IntegralGyroYaw = 0;
911 killagreg 215
    Reading_GyroNick = 0;
886 killagreg 216
    Reading_GyroRoll = 0;
217
    Reading_GyroYaw = 0;
936 killagreg 218
    Delay_ms_Mess(100);
886 killagreg 219
    StartAirPressure = AirPressure;
220
    HeightD = 0;
221
    Reading_Integral_Top = 0;
222
    CompassCourse = CompassHeading;
223
    BeepTime = 50;
911 killagreg 224
        TurnOver180Nick = ((int32_t) ParamSet.AngleTurnOverNick * 2500L) +15000L;
886 killagreg 225
        TurnOver180Roll =  ((int32_t) ParamSet.AngleTurnOverRoll *  2500L) +15000L;
226
    ExternHeightValue = 0;
911 killagreg 227
    GPS_Nick = 0;
886 killagreg 228
    GPS_Roll = 0;
229
    YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR;
230
    YawGyroDrift = 0;
936 killagreg 231
    MKFlags |= MKFLAG_CALIBRATE;
1 ingob 232
}
233
 
886 killagreg 234
/************************************************************************/
235
/*  Averaging Measurement Readings                                      */
236
/************************************************************************/
237
void Mean(void)
238
{
239
    static int32_t tmpl,tmpl2;
401 hbuss 240
 
886 killagreg 241
 // Get offset corrected gyro readings (~ to angular velocity)
242
    Reading_GyroYaw   = AdNeutralYaw    - AdValueGyrYaw;
243
    Reading_GyroRoll  = AdValueGyrRoll  - AdNeutralRoll;
911 killagreg 244
    Reading_GyroNick = AdValueGyrNick - AdNeutralNick;
604 hbuss 245
 
886 killagreg 246
// Acceleration Sensor
247
        // sliding average sensor readings
911 killagreg 248
        Mean_AccNick = ((int32_t)Mean_AccNick * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 2L;
886 killagreg 249
        Mean_AccRoll  = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L;
250
        Mean_AccTop   = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L;
251
 
252
        // sum sensor readings for later averaging
911 killagreg 253
    IntegralAccNick += ACC_AMPLIFY * AdValueAccNick;
886 killagreg 254
    IntegralAccRoll  += ACC_AMPLIFY * AdValueAccRoll;
255
 
911 killagreg 256
    NaviAccNick += AdValueAccNick;
886 killagreg 257
    NaviAccRoll  += AdValueAccRoll;
805 hbuss 258
    NaviCntAcc++;
882 hbuss 259
 
886 killagreg 260
// Yaw
261
        // calculate yaw gyro integral (~ to rotation angle)
262
        Reading_IntegralGyroYaw  += Reading_GyroYaw;
263
        YawGyroHeading += Reading_GyroYaw;
264
    if(YawGyroHeading >= (360L * YAW_GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * YAW_GYRO_DEG_FACTOR;  // 360° Wrap
265
        if(YawGyroHeading < 0)                             YawGyroHeading += 360L * YAW_GYRO_DEG_FACTOR;
395 hbuss 266
 
1 ingob 267
 
886 killagreg 268
        // Coupling fraction
911 killagreg 269
        if(!Looping_Nick && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE))
886 killagreg 270
        {
911 killagreg 271
                tmpl = (Reading_GyroYaw * Reading_IntegralGyroNick) / 2048L;
886 killagreg 272
                tmpl *= FCParam.Yaw_PosFeedback;
273
                tmpl /= 4096L;
274
                tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L;
275
                tmpl2 *= FCParam.Yaw_PosFeedback;
276
                tmpl2 /= 4096L;
277
                if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1;
278
        }
279
        else  tmpl = tmpl2 = 0;
280
 
281
// Roll
282
        Reading_GyroRoll += tmpl;
283
        Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L;
284
        Reading_IntegralGyroRoll2 += Reading_GyroRoll;
285
        Reading_IntegralGyroRoll +=  Reading_GyroRoll - AttitudeCorrectionRoll;
286
        if(Reading_IntegralGyroRoll > TurnOver180Roll)
287
        {
288
                Reading_IntegralGyroRoll  = -(TurnOver180Roll - 10000L);
289
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
290
        }
291
        if(Reading_IntegralGyroRoll < -TurnOver180Roll)
292
        {
293
                Reading_IntegralGyroRoll =  (TurnOver180Roll - 10000L);
294
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
295
        }
296
        if(AdValueGyrRoll < 15)   Reading_GyroRoll = -1000;
297
        if(AdValueGyrRoll <  7)   Reading_GyroRoll = -2000;
298
        if(BoardRelease == 10)
299
        {
300
                if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000;
301
                if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000;
302
        }
303
        else
304
        {
305
                if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000;
306
                if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000;
307
        }
911 killagreg 308
// Nick
309
        Reading_GyroNick -= tmpl2;
310
        Reading_GyroNick -= (tmpl*FCParam.Yaw_NegFeedback) / 512L;
311
        Reading_IntegralGyroNick2 += Reading_GyroNick;
312
        Reading_IntegralGyroNick  += Reading_GyroNick - AttitudeCorrectionNick;
313
        if(Reading_IntegralGyroNick > TurnOver180Nick)
886 killagreg 314
        {
911 killagreg 315
         Reading_IntegralGyroNick = -(TurnOver180Nick - 25000L);
316
         Reading_IntegralGyroNick2 = Reading_IntegralGyroNick;
886 killagreg 317
        }
911 killagreg 318
        if(Reading_IntegralGyroNick < -TurnOver180Nick)
886 killagreg 319
        {
911 killagreg 320
         Reading_IntegralGyroNick =  (TurnOver180Nick - 25000L);
321
         Reading_IntegralGyroNick2 = Reading_IntegralGyroNick;
886 killagreg 322
        }
911 killagreg 323
        if(AdValueGyrNick < 15)   Reading_GyroNick = -1000;
324
        if(AdValueGyrNick <  7)   Reading_GyroNick = -2000;
886 killagreg 325
        if(BoardRelease == 10)
326
        {
911 killagreg 327
                if(AdValueGyrNick > 1010) Reading_GyroNick = +1000;
328
                if(AdValueGyrNick > 1017) Reading_GyroNick = +2000;
886 killagreg 329
        }
330
        else
331
        {
911 killagreg 332
                if(AdValueGyrNick > 2020) Reading_GyroNick = +1000;
333
                if(AdValueGyrNick > 2034) Reading_GyroNick = +2000;
886 killagreg 334
        }
335
 
336
// start ADC again to capture measurement values for the next loop
337
    ADC_Enable();
338
 
339
    IntegralYaw    = Reading_IntegralGyroYaw;
911 killagreg 340
    IntegralNick  = Reading_IntegralGyroNick;
886 killagreg 341
    IntegralRoll   = Reading_IntegralGyroRoll;
911 killagreg 342
    IntegralNick2 = Reading_IntegralGyroNick2;
886 killagreg 343
    IntegralRoll2  = Reading_IntegralGyroRoll2;
344
 
911 killagreg 345
        if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Nick && !Looping_Roll)
886 killagreg 346
        {
911 killagreg 347
                if(Reading_GyroNick > 200)       Reading_GyroNick += 4 * (Reading_GyroNick - 200);
348
                else if(Reading_GyroNick < -200) Reading_GyroNick += 4 * (Reading_GyroNick + 200);
886 killagreg 349
                if(Reading_GyroRoll > 200)        Reading_GyroRoll  += 4 * (Reading_GyroRoll - 200);
350
                else if(Reading_GyroRoll < -200)  Reading_GyroRoll  += 4 * (Reading_GyroRoll + 200);
351
        }
1 ingob 352
}
353
 
886 killagreg 354
/************************************************************************/
355
/*  Averaging Measurement Readings  for Calibration                     */
356
/************************************************************************/
357
void CalibMean(void)
358
{
936 killagreg 359
        if(BoardRelease >= 13) SearchGyroOffset();
886 killagreg 360
    // stop ADC to avoid changing values during calculation
361
        ADC_Disable();
395 hbuss 362
 
911 killagreg 363
        Reading_GyroNick = AdValueGyrNick;
886 killagreg 364
        Reading_GyroRoll  = AdValueGyrRoll;
365
        Reading_GyroYaw   = AdValueGyrYaw;
366
 
911 killagreg 367
        Mean_AccNick = ACC_AMPLIFY * (int32_t)AdValueAccNick;
886 killagreg 368
        Mean_AccRoll  = ACC_AMPLIFY * (int32_t)AdValueAccRoll;
369
        Mean_AccTop   = (int32_t)AdValueAccTop;
370
    // start ADC (enables internal trigger so that the ISR in analog.c
371
    // updates the readings once)
372
    ADC_Enable();
373
 
911 killagreg 374
        TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L;
886 killagreg 375
        TurnOver180Roll =  (int32_t) ParamSet.AngleTurnOverRoll  * 2500L;
1 ingob 376
}
377
 
886 killagreg 378
/************************************************************************/
379
/*  Transmit Motor Data via I2C                                         */
380
/************************************************************************/
1 ingob 381
void SendMotorData(void)
886 killagreg 382
{
936 killagreg 383
    if(!(MKFlags & MKFLAG_MOTOR_RUN))
886 killagreg 384
    {
385
        Motor_Rear = 0;
386
        Motor_Front = 0;
387
        Motor_Right = 0;
388
        Motor_Left = 0;
389
        if(MotorTest[0]) Motor_Front = MotorTest[0];
390
        if(MotorTest[1]) Motor_Rear  = MotorTest[1];
391
        if(MotorTest[2]) Motor_Left  = MotorTest[2];
392
        if(MotorTest[3]) Motor_Right = MotorTest[3];
936 killagreg 393
        MKFlags &= ~(MKFLAG_FLY|MKFLAG_START); // clear flag FLY and START if motors are off
394
    }
886 killagreg 395
    DebugOut.Analog[12] = Motor_Front;
396
    DebugOut.Analog[13] = Motor_Rear;
397
    DebugOut.Analog[14] = Motor_Left;
398
    DebugOut.Analog[15] = Motor_Right;
1 ingob 399
 
400
    //Start I2C Interrupt Mode
936 killagreg 401
    twi_state = TWI_STATE_MOTOR_TX;
886 killagreg 402
    I2C_Start();
1 ingob 403
}
404
 
405
 
406
 
886 killagreg 407
/************************************************************************/
408
/*  Maps the parameter to poti values                                   */
409
/************************************************************************/
410
void ParameterMapping(void)
1 ingob 411
{
886 killagreg 412
        if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok
413
        // else the last updated values are used
414
        {
415
                 //update poti values by rc-signals
936 killagreg 416
                #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;}
417
                #define CHK_POTI(b,a) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a;}
418
                CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight);
419
                CHK_POTI_MM(FCParam.Height_D,ParamSet.Height_D,0,100);
420
                CHK_POTI_MM(FCParam.Height_P,ParamSet.Height_P,0,100);
421
                CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect);
422
                CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect);
423
                CHK_POTI_MM(FCParam.Gyro_P,ParamSet.Gyro_P,10,255);
424
                CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I);
425
                CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor);
426
                CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1);
427
                CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2);
428
                CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3);
429
                CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4);
430
                CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5);
431
                CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6);
432
                CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7);
433
                CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8);
434
                CHK_POTI(FCParam.ServoNickControl,ParamSet.ServoNickControl);
435
                CHK_POTI(FCParam.LoopGasLimit,ParamSet.LoopGasLimit);
436
                CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback);
437
                CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback);
438
                CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability);
439
                CHK_POTI_MM(FCParam.J16Timing,ParamSet.J16Timing,1,255);
440
                CHK_POTI_MM(FCParam.J17Timing,ParamSet.J17Timing,1,255);
441
                CHK_POTI(FCParam.NaviGpsModeControl,ParamSet.NaviGpsModeControl);
442
                CHK_POTI(FCParam.NaviGpsGain,ParamSet.NaviGpsGain);
443
                CHK_POTI(FCParam.NaviGpsP,ParamSet.NaviGpsP);
444
                CHK_POTI(FCParam.NaviGpsI,ParamSet.NaviGpsI);
445
                CHK_POTI(FCParam.NaviGpsD,ParamSet.NaviGpsD);
446
                CHK_POTI(FCParam.NaviGpsACC,ParamSet.NaviGpsACC);
447
                CHK_POTI(FCParam.ExternalControl,ParamSet.ExternalControl);
886 killagreg 448
                Ki = (float) FCParam.I_Factor * FACTOR_I;
449
        }
450
}
1 ingob 451
 
452
 
886 killagreg 453
void SetCompassCalState(void)
454
{
455
        static uint8_t stick = 1;
456
 
911 killagreg 457
    // if nick is centered or top set stick to zero
458
        if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -20) stick = 0;
459
        // if nick is down trigger to next cal state
460
        if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) && !stick)
886 killagreg 461
        {
462
                stick = 1;
463
                CompassCalState++;
464
                if(CompassCalState < 5) Beep(CompassCalState);
465
                else BeepTime = 1000;
466
        }
1 ingob 467
}
468
 
469
 
819 hbuss 470
 
886 killagreg 471
/************************************************************************/
472
/*  MotorControl                                                        */
473
/************************************************************************/
474
void MotorControl(void)
1 ingob 475
{
886 killagreg 476
        int16_t MotorValue, pd_result, h, tmp_int;
911 killagreg 477
        int16_t YawMixFraction, GasMixFraction;
478
        static int32_t SumNick = 0, SumRoll = 0;
886 killagreg 479
        static int32_t SetPointYaw = 0;
911 killagreg 480
        static int32_t IntegralErrorNick = 0;
886 killagreg 481
        static int32_t IntegralErrorRoll = 0;
482
        static uint16_t RcLostTimer;
483
        static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0;
484
        static uint8_t HeightControlActive = 0;
911 killagreg 485
        static int16_t HeightControlGas = 0;
886 killagreg 486
        static int8_t TimerDebugOut = 0;
487
        static uint16_t UpdateCompassCourse = 0;
911 killagreg 488
        static int32_t CorrectionNick, CorrectionRoll;
1 ingob 489
 
886 killagreg 490
        Mean();
491
        GRN_ON;
1 ingob 492
 
886 killagreg 493
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 494
// determine gas value
886 killagreg 495
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 496
        GasMixFraction = StickGas;
497
    if(GasMixFraction < ParamSet.Gas_Min + 10) GasMixFraction = ParamSet.Gas_Min + 10;
886 killagreg 498
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
499
// RC-signal is bad
500
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
501
        if(RC_Quality < 120)  // the rc-frame signal is not reveived or noisy
502
        {
503
                if(!PcAccess) // if also no PC-Access via UART
504
                {
505
                        if(BeepModulation == 0xFFFF)
506
                        {
507
                         BeepTime = 15000; // 1.5 seconds
508
                         BeepModulation = 0x0C00;
509
                        }
510
                }
511
                if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost
512
                else // rc lost countdown finished
513
                {
936 killagreg 514
                  MKFlags &= ~(MKFLAG_MOTOR_RUN|MKFLAG_EMERGENCY_LANDING); // clear motor run flag that stop the motors in SendMotorData()
886 killagreg 515
                }
936 killagreg 516
                RED_ON; // set red led
886 killagreg 517
                if(Model_Is_Flying > 1000)  // wahrscheinlich in der Luft --> langsam absenken
518
                {
911 killagreg 519
                        GasMixFraction = ParamSet.EmergencyGas; // set emergency gas
936 killagreg 520
                        MKFlags |= (MKFLAG_EMERGENCY_LANDING); // ser flag fpr emergency landing
886 killagreg 521
                        // set neutral rc inputs
911 killagreg 522
                        PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] = 0;
886 killagreg 523
                        PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
524
                        PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0;
911 killagreg 525
                        PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0;
886 killagreg 526
                        PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0;
527
                        PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0;
528
                }
936 killagreg 529
                else MKFlags &= ~(MKFLAG_MOTOR_RUN); // clear motor run flag that stop the motors in SendMotorData()
886 killagreg 530
        } // eof RC_Quality < 120
531
        else
532
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
533
// RC-signal is good
534
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
535
        if(RC_Quality > 140)
536
        {
936 killagreg 537
                MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing
886 killagreg 538
                // reset emergency timer
911 killagreg 539
                RcLostTimer = ParamSet.EmergencyGasDuration * 50;
936 killagreg 540
                if(GasMixFraction > 40 && (MKFlags & MKFLAG_MOTOR_RUN) )
886 killagreg 541
                {
542
                        if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++;
543
                }
544
                if(Model_Is_Flying < 256)
545
                {
911 killagreg 546
                        SumNick = 0;
886 killagreg 547
                        SumRoll = 0;
548
                        StickYaw = 0;
936 killagreg 549
                        if(Model_Is_Flying == 250)
550
                        {
551
                                UpdateCompassCourse = 1;
552
                                Reading_IntegralGyroYaw = 0;
553
                                SetPointYaw = 0;
554
                        }
886 killagreg 555
                }
936 killagreg 556
                else MKFlags |= (MKFLAG_FLY); // set fly flag
604 hbuss 557
 
886 killagreg 558
                if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--;
559
                if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--;
560
                if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--;
561
                if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--;
562
                //PPM24-Extension
563
                if(Poti5 < PPM_in[9] + 110)  Poti5++; else if(Poti5 >  PPM_in[9] + 110 && Poti5) Poti5--;
564
                if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--;
565
                if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--;
566
                if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--;
567
                //limit poti values
568
                if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255;
569
                if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255;
570
                if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255;
571
                if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255;
572
                //PPM24-Extension
573
                if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255;
574
                if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255;
575
                if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255;
576
                if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255;
723 hbuss 577
 
911 killagreg 578
                // if motors are off and the gas stick is in the upper position
936 killagreg 579
                if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && !(MKFlags & MKFLAG_MOTOR_RUN) )
886 killagreg 580
                {
581
                        // and if the yaw stick is in the leftmost position
582
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
583
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
584
// calibrate the neutral readings of all attitude sensors
585
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
586
                        {
911 killagreg 587
                                // gas/yaw joystick is top left
886 killagreg 588
                                //  _________
589
                                // |x        |
590
                                // |         |
591
                                // |         |
592
                                // |         |
593
                                // |         |
594
                                //  ¯¯¯¯¯¯¯¯¯
595
                                if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
596
                                {
597
                                        delay_neutral = 0;
598
                                        GRN_OFF;
599
                                        Model_Is_Flying = 0;
911 killagreg 600
                                        // check roll/nick stick position
601
                                        // if nick stick is top or roll stick is left or right --> change parameter setting
602
                                        // according to roll/nick stick position
603
                                        if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70)
886 killagreg 604
                                        {
605
                                                 uint8_t setting = 1; // default
911 killagreg 606
                                                 // nick/roll joystick
886 killagreg 607
                                                 //  _________
608
                                                 // |2   3   4|
609
                                                 // |         |
610
                                                 // |1       5|
611
                                                 // |         |
612
                                                 // |         |
613
                                                 //  ¯¯¯¯¯¯¯¯¯
911 killagreg 614
                                                 // roll stick leftmost and nick stick centered --> setting 1
615
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1;
616
                                                 // roll stick leftmost and nick stick topmost --> setting 2
617
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2;
618
                                                 // roll stick centered an nick stick topmost --> setting 3
619
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3;
620
                                                 // roll stick rightmost and nick stick topmost --> setting 4
621
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4;
622
                                                 // roll stick rightmost and nick stick centered --> setting 5
623
                                                 if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5;
886 killagreg 624
                                                 // update active parameter set in eeprom
625
                                                 SetActiveParamSet(setting);
626
                                                 ParamSet_ReadFromEEProm(GetActiveParamSet());
627
                                                 SetNeutral();
628
                                                 Beep(GetActiveParamSet());
629
                                        }
630
                                        else
631
                                        {
953 killagreg 632
                                                if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE))
886 killagreg 633
                                                {
911 killagreg 634
                                                        // if roll stick is centered and nick stick is down
635
                                                        if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 20 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70)
886 killagreg 636
                                                        {
911 killagreg 637
                                                                // nick/roll joystick
886 killagreg 638
                                                                //  _________
639
                                                                // |         |
640
                                                                // |         |
641
                                                                // |         |
642
                                                                // |         |
643
                                                                // |    x    |
644
                                                                //  ¯¯¯¯¯¯¯¯¯
645
                                                                // enable calibration state of compass
646
                                                                CompassCalState = 1;
647
                                                                BeepTime = 1000;
648
                                                        }
911 killagreg 649
                                                        else // nick and roll are centered
886 killagreg 650
                                                        {
651
                                                                ParamSet_ReadFromEEProm(GetActiveParamSet());
652
                                                                SetNeutral();
653
                                                                Beep(GetActiveParamSet());
654
                                                        }
655
                                                }
911 killagreg 656
                                                else // nick and roll are centered
886 killagreg 657
                                                {
658
                                                        ParamSet_ReadFromEEProm(GetActiveParamSet());
659
                                                        SetNeutral();
660
                                                        Beep(GetActiveParamSet());
661
                                                }
662
                                        }
663
                                }
664
                        }
665
                        // and if the yaw stick is in the rightmost position
666
                        // save the ACC neutral setting to eeprom
667
                        else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
668
                        {
669
                                if(++delay_neutral > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
670
                                {
671
                                        delay_neutral = 0;
672
                                        GRN_OFF;
911 killagreg 673
                                        SetParamWord(PID_ACC_NICK, 0xFFFF); // make value invalid
886 killagreg 674
                                        Model_Is_Flying = 0;
675
                                        SetNeutral();
676
                                        // Save ACC neutral settings to eeprom
911 killagreg 677
                                        SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX);
886 killagreg 678
                                        SetParamWord(PID_ACC_ROLL,  (uint16_t)NeutralAccY);
679
                                        SetParamWord(PID_ACC_Z,     (uint16_t)NeutralAccZ);
680
                                        Beep(GetActiveParamSet());
681
                                }
682
                        }
683
                        else delay_neutral = 0;
684
                }
685
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 686
// gas stick is down
886 killagreg 687
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 688
                if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < -85)
886 killagreg 689
                {
690
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
691
// and yaw stick is rightmost --> start motors
692
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75)
694
                        {
695
                                if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
696
                                {
697
                                        delay_startmotors = 200; // do not repeat if once executed
698
                                        Model_Is_Flying = 1;
936 killagreg 699
                                        MKFlags |= (MKFLAG_MOTOR_RUN|MKFLAG_START); // set flag RUN and START
886 killagreg 700
                                        SetPointYaw = 0;
701
                                        Reading_IntegralGyroYaw = 0;
911 killagreg 702
                                        Reading_IntegralGyroNick = 0;
886 killagreg 703
                                        Reading_IntegralGyroRoll = 0;
911 killagreg 704
                                        Reading_IntegralGyroNick2 = IntegralNick;
886 killagreg 705
                                        Reading_IntegralGyroRoll2 = IntegralRoll;
911 killagreg 706
                                        SumNick = 0;
886 killagreg 707
                                        SumRoll = 0;
708
                                }
709
                        }
710
                        else delay_startmotors = 0; // reset delay timer if sticks are not in this position
711
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
712
// and yaw stick is leftmost --> stop motors
713
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
714
                        if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75)
715
                                {
716
                                if(++delay_stopmotors > 200)  // not immediately (wait 200 loops = 200 * 2ms = 0.4 s)
717
                                {
718
                                        delay_stopmotors = 200; // do not repeat if once executed
719
                                        Model_Is_Flying = 0;
936 killagreg 720
                                        MKFlags &= ~(MKFLAG_MOTOR_RUN);
886 killagreg 721
                                }
722
                        }
723
                        else delay_stopmotors = 0; // reset delay timer if sticks are not in this position
724
                }
725
                        // remapping of paameters only if the signal rc-sigbnal conditions are good
726
        } // eof RC_Quality > 150
727
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
728
// new values from RC
729
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
936 killagreg 730
        if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC
886 killagreg 731
        {
732
                int tmp_int;
733
                ParameterMapping(); // remapping params (online poti replacement)
734
                // calculate Stick inputs by rc channels (P) and changing of rc channels (D)
911 killagreg 735
                StickNick = (StickNick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_P) / 4;
736
                StickNick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.Stick_D;
737
                StickNick -= (GPS_Nick);
723 hbuss 738
 
886 killagreg 739
                StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4;
740
                StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D;
741
                StickRoll -= (GPS_Roll);
595 hbuss 742
 
911 killagreg 743
                // direct mapping of yaw and gas
886 killagreg 744
                StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]];
911 killagreg 745
                StickGas  = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;// shift to positive numbers
1 ingob 746
 
886 killagreg 747
                // update gyro control loop factors
748
                Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN);
749
                Gyro_I_Factor = ((float) FCParam.Gyro_I) / (44000 / STICK_GAIN);
750
 
595 hbuss 751
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 752
// Digital Control via DubWise
595 hbuss 753
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 754
 
936 killagreg 755
                #define KEY_VALUE (FCParam.ExternalControl * 4) // step width
886 killagreg 756
                if(DubWiseKeys[1]) BeepTime = 10;
757
                if(DubWiseKeys[1] & DUB_KEY_UP)  tmp_int = KEY_VALUE;
758
                else if(DubWiseKeys[1] & DUB_KEY_DOWN)  tmp_int = -KEY_VALUE;
759
                else tmp_int = 0;
911 killagreg 760
                ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8;
886 killagreg 761
                if(DubWiseKeys[1] & DUB_KEY_LEFT)  tmp_int = KEY_VALUE;
762
                else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE;
763
                else tmp_int = 0;
764
                ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8;
492 hbuss 765
 
886 killagreg 766
                if(DubWiseKeys[0] & 8)  ExternStickYaw = 50;else
767
                if(DubWiseKeys[0] & 4)  ExternStickYaw =-50;else ExternStickYaw = 0;
768
                if(DubWiseKeys[0] & 2)  ExternHeightValue++;
769
                if(DubWiseKeys[0] & 16) ExternHeightValue--;
770
 
936 killagreg 771
                StickNick  += (STICK_GAIN * ExternStickNick) / 8;
886 killagreg 772
                StickRoll  += (STICK_GAIN * ExternStickRoll) / 8;
773
                StickYaw   += (STICK_GAIN * ExternStickYaw);
774
 
595 hbuss 775
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 776
//+ Analog control via serial communication
595 hbuss 777
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 778
 
936 killagreg 779
                if(ExternControl.Config & 0x01 && FCParam.ExternalControl > 128)
886 killagreg 780
                {
911 killagreg 781
                         StickNick += (int16_t) ExternControl.Nick * (int16_t) ParamSet.Stick_P;
886 killagreg 782
                         StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P;
783
                         StickYaw += ExternControl.Yaw;
784
                         ExternHeightValue =  (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain;
911 killagreg 785
                         if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
886 killagreg 786
                }
911 killagreg 787
                if(StickGas < 0) StickGas = 0;
723 hbuss 788
 
886 killagreg 789
                // disable I part of gyro control feedback
790
                if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor =  0;
791
                // avoid negative scaling factors
792
                if(Gyro_P_Factor < 0) Gyro_P_Factor = 0;
793
                if(Gyro_I_Factor < 0) Gyro_I_Factor = 0;
723 hbuss 794
 
886 killagreg 795
 
911 killagreg 796
                // update max stick positions for nick and roll
886 killagreg 797
 
936 killagreg 798
                if(abs(StickNick / STICK_GAIN) > MaxStickNick)
799
                {
800
                        MaxStickNick = abs(StickNick)/STICK_GAIN;
801
                        if(MaxStickNick > 100) MaxStickNick = 100;
802
                }
911 killagreg 803
                else MaxStickNick--;
936 killagreg 804
                if(abs(StickRoll / STICK_GAIN) > MaxStickRoll)
805
                {
806
                        MaxStickRoll = abs(StickRoll)/STICK_GAIN;
807
                        if(MaxStickRoll > 100) MaxStickRoll = 100;
808
                }
886 killagreg 809
                else MaxStickRoll--;
810
 
811
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 812
// Looping?
886 killagreg 813
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 814
 
886 killagreg 815
                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT)  Looping_Left = 1;
816
                else
817
                {
818
                        if(Looping_Left) // Hysteresis
819
                        {
820
                                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0;
821
                        }
822
                }
823
                if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1;
824
                else
825
                {
826
                        if(Looping_Right) // Hysteresis
827
                        {
828
                                if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0;
829
                        }
830
                }
395 hbuss 831
 
911 killagreg 832
                if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1;
886 killagreg 833
                else
834
                {
835
                        if(Looping_Top)  // Hysteresis
836
                        {
911 killagreg 837
                                if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0;
886 killagreg 838
                        }
839
                }
911 killagreg 840
                if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1;
886 killagreg 841
                else
842
                {
843
                        if(Looping_Down) // Hysteresis
844
                        {
911 killagreg 845
                                if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0;
886 killagreg 846
                        }
847
                }
395 hbuss 848
 
886 killagreg 849
                if(Looping_Left || Looping_Right)   Looping_Roll = 1; else Looping_Roll = 0;
911 killagreg 850
                if(Looping_Top  || Looping_Down) {Looping_Nick = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Nick = 0;
886 killagreg 851
        } // End of new RC-Values or Emergency Landing
173 holgerb 852
 
395 hbuss 853
 
911 killagreg 854
        if(Looping_Roll || Looping_Nick)
886 killagreg 855
        {
911 killagreg 856
                if(GasMixFraction > ParamSet.LoopGasLimit) GasMixFraction = ParamSet.LoopGasLimit;
886 killagreg 857
        }
395 hbuss 858
 
886 killagreg 859
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
860
// in case of emergency landing
861
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
862
        // set all inputs to save values
936 killagreg 863
        if(MKFlags & MKFLAG_EMERGENCY_LANDING)
886 killagreg 864
        {
865
                StickYaw = 0;
911 killagreg 866
                StickNick = 0;
886 killagreg 867
                StickRoll = 0;
868
                Gyro_P_Factor  = (float) 100 / (256.0 / STICK_GAIN);
869
                Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN);
870
                Looping_Roll = 0;
911 killagreg 871
                Looping_Nick = 0;
872
                MaxStickNick = 0;
886 killagreg 873
                MaxStickRoll = 0;
874
        }
395 hbuss 875
 
886 killagreg 876
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
877
// Trim Gyro-Integrals to ACC-Signals
878
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
614 hbuss 879
 
886 killagreg 880
        #define BALANCE_NUMBER 256L
881
        // sum for averaging
911 killagreg 882
        MeanIntegralNick  += IntegralNick;
886 killagreg 883
        MeanIntegralRoll  += IntegralRoll;
614 hbuss 884
 
911 killagreg 885
        if(Looping_Nick || Looping_Roll) // if looping in any direction
886 killagreg 886
        {
887
                // reset averaging for acc and gyro integral as well as gyro integral acc correction
888
                MeasurementCounter = 0;
469 hbuss 889
 
911 killagreg 890
                IntegralAccNick = 0;
886 killagreg 891
                IntegralAccRoll = 0;
614 hbuss 892
 
911 killagreg 893
                MeanIntegralNick = 0;
886 killagreg 894
                MeanIntegralRoll = 0;
395 hbuss 895
 
911 killagreg 896
                Reading_IntegralGyroNick2 = Reading_IntegralGyroNick;
886 killagreg 897
                Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll;
498 hbuss 898
 
911 killagreg 899
                AttitudeCorrectionNick = 0;
886 killagreg 900
                AttitudeCorrectionRoll = 0;
901
        }
395 hbuss 902
 
886 killagreg 903
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 904
        if(!Looping_Nick && !Looping_Roll) // if not lopping in any direction
886 killagreg 905
        {
906
                int32_t tmp_long, tmp_long2;
907
                // determine the deviation of gyro integral from averaged acceleration sensor
911 killagreg 908
                tmp_long   =  (int32_t)(IntegralNick / ParamSet.GyroAccFactor - (int32_t)Mean_AccNick);
886 killagreg 909
                tmp_long  /= 16;
910
                tmp_long2  = (int32_t)(IntegralRoll   / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll);
911
                tmp_long2 /= 16;
395 hbuss 912
 
936 killagreg 913
                if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands
886 killagreg 914
                {
915
                        tmp_long  /= 3;
916
                        tmp_long2 /= 3;
917
                }
918
                if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active
919
                {
920
                        tmp_long  /= 3;
921
                        tmp_long2 /= 3;
922
                }
395 hbuss 923
 
886 killagreg 924
                #define BALANCE 32
925
                // limit correction effect
926
                if(tmp_long >  BALANCE)  tmp_long  = BALANCE;
927
                if(tmp_long < -BALANCE)  tmp_long  =-BALANCE;
928
                if(tmp_long2 > BALANCE)  tmp_long2 = BALANCE;
929
                if(tmp_long2 <-BALANCE)  tmp_long2 =-BALANCE;
930
                // correct current readings
911 killagreg 931
                Reading_IntegralGyroNick -= tmp_long;
886 killagreg 932
                Reading_IntegralGyroRoll -= tmp_long2;
933
        }
934
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
935
        // MeasurementCounter is incremented in the isr of analog.c
936
        if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached
937
        {
938
                static int16_t cnt = 0;
939
                static int8_t last_n_p, last_n_n, last_r_p, last_r_n;
911 killagreg 940
                static int32_t MeanIntegralNick_old, MeanIntegralRoll_old;
720 ingob 941
 
886 killagreg 942
                // if not lopping in any direction (this should be alwais the case,
943
                // because the Measurement counter is reset to 0 if looping in any direction is active.)
911 killagreg 944
                if(!Looping_Nick && !Looping_Roll && !FunnelCourse)
886 killagreg 945
                {
946
                        // Calculate mean value of the gyro integrals
911 killagreg 947
                        MeanIntegralNick /= BALANCE_NUMBER;
886 killagreg 948
                        MeanIntegralRoll  /= BALANCE_NUMBER;
720 ingob 949
 
886 killagreg 950
                        // Calculate mean of the acceleration values
911 killagreg 951
                        IntegralAccNick = (ParamSet.GyroAccFactor * IntegralAccNick) / BALANCE_NUMBER;
886 killagreg 952
                        IntegralAccRoll  = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER;
720 ingob 953
 
911 killagreg 954
                        // Nick ++++++++++++++++++++++++++++++++++++++++++++++++
886 killagreg 955
                        // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
911 killagreg 956
                        IntegralErrorNick = (int32_t)(MeanIntegralNick - (int32_t)IntegralAccNick);
957
                        CorrectionNick = IntegralErrorNick / ParamSet.GyroAccTrim;
958
                        AttitudeCorrectionNick = CorrectionNick / BALANCE_NUMBER;
886 killagreg 959
                        // Roll ++++++++++++++++++++++++++++++++++++++++++++++++
960
                        // Calculate deviation of the averaged gyro integral and the averaged acceleration integral
961
                        IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll);
962
                        CorrectionRoll  = IntegralErrorRoll / ParamSet.GyroAccTrim;
963
                        AttitudeCorrectionRoll  = CorrectionRoll  / BALANCE_NUMBER;
964
 
936 killagreg 965
                        if((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25))
886 killagreg 966
                        {
911 killagreg 967
                                AttitudeCorrectionNick /= 2;
886 killagreg 968
                                AttitudeCorrectionRoll /= 2;
969
                        }
970
 
971
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
972
        // Gyro-Drift ermitteln
973
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 974
                        // deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor)
975
                        IntegralErrorNick  = IntegralNick2 - IntegralNick;
976
                        Reading_IntegralGyroNick2 -= IntegralErrorNick;
977
                        // deviation of gyro nick integral (IntegralNick is corrected by averaged acc sensor)
886 killagreg 978
                        IntegralErrorRoll = IntegralRoll2 - IntegralRoll;
979
                        Reading_IntegralGyroRoll2 -= IntegralErrorRoll;
980
 
981
                        if(YawGyroDrift >  BALANCE_NUMBER/2) AdNeutralYaw++;
982
                        if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--;
983
                        YawGyroDrift = 0;
984
/*
911 killagreg 985
                        DebugOut.Analog[17] = IntegralAccNick / 26;
886 killagreg 986
                        DebugOut.Analog[18] = IntegralAccRoll / 26;
911 killagreg 987
                        DebugOut.Analog[19] = IntegralErrorNick;// / 26;
886 killagreg 988
                        DebugOut.Analog[20] = IntegralErrorRoll;// / 26;
911 killagreg 989
                        DebugOut.Analog[21] = MeanIntegralNick / 26;
886 killagreg 990
                        DebugOut.Analog[22] = MeanIntegralRoll / 26;
911 killagreg 991
                        //DebugOut.Analog[28] = CorrectionNick;
886 killagreg 992
                        DebugOut.Analog[29] = CorrectionRoll;
993
                        DebugOut.Analog[30] = AttitudeCorrectionRoll * 10;
720 ingob 994
*/
886 killagreg 995
 
996
                        #define ERROR_LIMIT  (BALANCE_NUMBER * 4)
997
                        #define ERROR_LIMIT2 (BALANCE_NUMBER * 16)
998
                        #define MOVEMENT_LIMIT 20000
911 killagreg 999
        // Nick +++++++++++++++++++++++++++++++++++++++++++++++++
1000
                        cnt = 1;// + labs(IntegralErrorNick) / 4096;
1001
                        CorrectionNick = 0;
1002
                        if(labs(MeanIntegralNick_old - MeanIntegralNick) < MOVEMENT_LIMIT)
886 killagreg 1003
                        {
911 killagreg 1004
                                if(IntegralErrorNick >  ERROR_LIMIT2)
886 killagreg 1005
                                {
1006
                                        if(last_n_p)
1007
                                        {
911 killagreg 1008
                                                cnt += labs(IntegralErrorNick) / ERROR_LIMIT2;
1009
                                                CorrectionNick = IntegralErrorNick / 8;
1010
                                                if(CorrectionNick > 5000) CorrectionNick = 5000;
1011
                                                AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER;
886 killagreg 1012
                                        }
1013
                                        else last_n_p = 1;
1014
                                }
1015
                                else  last_n_p = 0;
911 killagreg 1016
                                if(IntegralErrorNick < -ERROR_LIMIT2)
886 killagreg 1017
                                {
1018
                                        if(last_n_n)
1019
                                        {
911 killagreg 1020
                                                cnt += labs(IntegralErrorNick) / ERROR_LIMIT2;
1021
                                                CorrectionNick = IntegralErrorNick / 8;
1022
                                                if(CorrectionNick < -5000) CorrectionNick = -5000;
1023
                                                AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER;
886 killagreg 1024
                                        }
1025
                                        else last_n_n = 1;
1026
                                }
1027
                                else  last_n_n = 0;
1028
                        }
1029
                        else
1030
                        {
1031
                                cnt = 0;
936 killagreg 1032
                                BadCompassHeading = 1000;
886 killagreg 1033
                        }
1034
                        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
1035
                        // correct Gyro Offsets
911 killagreg 1036
                        if(IntegralErrorNick >  ERROR_LIMIT)   AdNeutralNick += cnt;
1037
                        if(IntegralErrorNick < -ERROR_LIMIT)   AdNeutralNick -= cnt;
886 killagreg 1038
 
1039
        // Roll +++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 1040
                        cnt = 1;// + labs(IntegralErrorNick) / 4096;
886 killagreg 1041
                        CorrectionRoll = 0;
1042
                        if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT)
1043
                        {
1044
                                if(IntegralErrorRoll >  ERROR_LIMIT2)
1045
                                {
1046
                                        if(last_r_p)
1047
                                        {
1048
                                                cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
1049
                                                CorrectionRoll = IntegralErrorRoll / 8;
1050
                                                if(CorrectionRoll > 5000) CorrectionRoll = 5000;
1051
                                                AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
1052
                                        }
1053
                                        else last_r_p = 1;
1054
                                }
1055
                                else  last_r_p = 0;
1056
                                if(IntegralErrorRoll < -ERROR_LIMIT2)
1057
                                {
1058
                                        if(last_r_n)
1059
                                        {
1060
                                                cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2;
1061
                                                CorrectionRoll = IntegralErrorRoll / 8;
1062
                                                if(CorrectionRoll < -5000) CorrectionRoll = -5000;
1063
                                                AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER;
1064
                                        }
1065
                                        else last_r_n = 1;
1066
                                }
1067
                                else  last_r_n = 0;
1068
                        }
1069
                        else
1070
                        {
1071
                                cnt = 0;
936 killagreg 1072
                                BadCompassHeading = 1000;
886 killagreg 1073
                        }
1074
                        // correct Gyro Offsets
1075
                        if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp;
1076
                        if(IntegralErrorRoll >  ERROR_LIMIT)   AdNeutralRoll += cnt;
1077
                        if(IntegralErrorRoll < -ERROR_LIMIT)   AdNeutralRoll -= cnt;
720 ingob 1078
/*
886 killagreg 1079
                        DebugOut.Analog[27] = CorrectionRoll;
911 killagreg 1080
                        DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick);
886 killagreg 1081
                        DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
720 ingob 1082
*/
886 killagreg 1083
                }
1084
                else // looping is active
1085
                {
1086
                        AttitudeCorrectionRoll  = 0;
911 killagreg 1087
                        AttitudeCorrectionNick = 0;
886 killagreg 1088
                        FunnelCourse = 0;
1089
                }
395 hbuss 1090
 
886 killagreg 1091
                // if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction
1092
                if(!Gyro_I_Factor)
1093
                {
1094
                        AttitudeCorrectionRoll  = 0;
911 killagreg 1095
                        AttitudeCorrectionNick = 0;
886 killagreg 1096
                }
1097
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 1098
                MeanIntegralNick_old = MeanIntegralNick;
886 killagreg 1099
                MeanIntegralRoll_old  = MeanIntegralRoll;
1100
        // +++++++++++++++++++++++++++++++++++++++++++++++++++++
1101
                // reset variables used for averaging
911 killagreg 1102
                IntegralAccNick = 0;
886 killagreg 1103
                IntegralAccRoll = 0;
911 killagreg 1104
                MeanIntegralNick = 0;
886 killagreg 1105
                MeanIntegralRoll = 0;
1106
                MeasurementCounter = 0;
1107
        } // end of averaging
401 hbuss 1108
 
492 hbuss 1109
 
886 killagreg 1110
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1111
//  Yawing
1112
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1113
        if(abs(StickYaw) > 15 ) // yaw stick is activated
1114
        {
936 killagreg 1115
                BadCompassHeading = 1000;
886 killagreg 1116
                if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX))
1117
                {
1118
                        UpdateCompassCourse = 1;
1119
                }
1120
        }
1121
        // exponential stick sensitivity in yawring rate
1122
        tmp_int  = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo  y = ax + bx²
1123
        tmp_int += (ParamSet.Yaw_P * StickYaw) / 4;
1124
        SetPointYaw = tmp_int;
1125
        // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw)
1126
        Reading_IntegralGyroYaw -= tmp_int;
1127
        // limit the effect
1128
        if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000;
1129
        if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000;
614 hbuss 1130
 
886 killagreg 1131
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1132
//  Compass
1133
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1134
    // compass code is used if Compass option is selected
953 killagreg 1135
        if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE))
886 killagreg 1136
        {
1137
                int16_t w, v, r,correction, error;
395 hbuss 1138
 
936 killagreg 1139
                if(CompassCalState && !(MKFlags & MKFLAG_MOTOR_RUN) )
886 killagreg 1140
                {
1141
                        SetCompassCalState();
1142
                        #ifdef USE_KILLAGREG
1143
                        MM3_Calibrate();
1144
                        #endif
1145
                }
1146
                else
1147
                {
1148
                        #ifdef USE_KILLAGREG
1149
                        static uint8_t updCompass = 0;
1150
                        if (!updCompass--)
1151
                        {
1152
                                updCompass = 49; // update only at 2ms*50 = 100ms (10Hz)
1153
                                MM3_Heading();
1154
                        }
1155
                        #endif
819 hbuss 1156
 
886 killagreg 1157
                        // get maximum attitude angle
936 killagreg 1158
                        w = abs(IntegralNick / 512);
1159
                        v = abs(IntegralRoll / 512);
886 killagreg 1160
                        if(v > w) w = v;
936 killagreg 1161
                        correction = w / 8 + 1;
886 killagreg 1162
                        // calculate the deviation of the yaw gyro heading and the compass heading
1163
                        if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined
1164
                        else error = ((540 + CompassHeading - (YawGyroHeading / YAW_GYRO_DEG_FACTOR)) % 360) - 180;
936 killagreg 1165
 
1166
                        if(!BadCompassHeading && w < 25)
1167
                        {
1168
                                YawGyroDrift += error;
1169
                                if(UpdateCompassCourse)
1170
                                {
1171
                                        BeepTime = 200;
1172
                                        CompassCourse = (YawGyroHeading / YAW_GYRO_DEG_FACTOR);
1173
                                        UpdateCompassCourse = 0;
1174
                                }
1175
                        }
886 killagreg 1176
                        YawGyroHeading += (error * 8) / correction;
936 killagreg 1177
                        w = (w * FCParam.CompassYawEffect) / 32;
886 killagreg 1178
                        w = FCParam.CompassYawEffect - w;
936 killagreg 1179
                        if(w >= 0)
886 killagreg 1180
                        {
936 killagreg 1181
                                if(!BadCompassHeading)
1182
                                {
911 killagreg 1183
                                        v = 64 + (MaxStickNick + MaxStickRoll) / 8;
886 killagreg 1184
                                        // calc course deviation
1185
                                        r = ((540 + (YawGyroHeading / YAW_GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180;
1186
                                        v = (r * w) / v; // align to compass course
1187
                                        // limit yaw rate
1188
                                        w = 3 * FCParam.CompassYawEffect;
1189
                                        if (v > w) v = w;
1190
                                        else if (v < -w) v = -w;
1191
                                        Reading_IntegralGyroYaw += v;
1192
                                }
936 killagreg 1193
                                else
1194
                                { // wait a while
1195
                                        BadCompassHeading--;
1196
                                }
886 killagreg 1197
                        }
1198
                        else
1199
                        {  // ignore compass at extreme attitudes for a while
936 killagreg 1200
                                BadCompassHeading = 500;
886 killagreg 1201
                        }
1202
                }
1203
        }
1 ingob 1204
 
953 killagreg 1205
        #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG))
886 killagreg 1206
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1207
//  GPS
1208
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1209
        if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE)
1210
        {
936 killagreg 1211
                GPS_Main();
1212
                MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START);
886 killagreg 1213
        }
1214
        else
1215
        {
911 killagreg 1216
                GPS_Nick = 0;
886 killagreg 1217
                GPS_Roll = 0;
1218
        }
1219
        #endif
1220
 
1221
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1222
//  Debugwerte zuordnen
886 killagreg 1223
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1224
        if(!TimerDebugOut--)
1225
        {
1226
                TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz)
911 killagreg 1227
                DebugOut.Analog[0]  = IntegralNick / ParamSet.GyroAccFactor;
886 killagreg 1228
                DebugOut.Analog[1]  = IntegralRoll / ParamSet.GyroAccFactor;
911 killagreg 1229
                DebugOut.Analog[2]  = Mean_AccNick;
886 killagreg 1230
                DebugOut.Analog[3]  = Mean_AccRoll;
1231
                DebugOut.Analog[4]  = Reading_GyroYaw;
1232
                DebugOut.Analog[5]  = ReadingHeight;
1233
                DebugOut.Analog[6]  = (Reading_Integral_Top / 512);
1234
                DebugOut.Analog[8]  = CompassHeading;
1235
                DebugOut.Analog[9]  = UBat;
1236
                DebugOut.Analog[10] = RC_Quality;
1237
                DebugOut.Analog[11] = YawGyroHeading / YAW_GYRO_DEG_FACTOR;
936 killagreg 1238
                //DebugOut.Analog[16] = Mean_AccTop;
805 hbuss 1239
 
886 killagreg 1240
                DebugOut.Analog[20] = ServoValue;
173 holgerb 1241
 
744 hbuss 1242
 
720 ingob 1243
 
911 killagreg 1244
                DebugOut.Analog[30] = GPS_Nick;
886 killagreg 1245
                DebugOut.Analog[31] = GPS_Roll;
805 hbuss 1246
 
886 killagreg 1247
                /*    DebugOut.Analog[16] = motor_rx[0];
1248
                DebugOut.Analog[17] = motor_rx[1];
1249
                DebugOut.Analog[18] = motor_rx[2];
1250
                DebugOut.Analog[19] = motor_rx[3];
1251
                DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3];
1252
                DebugOut.Analog[20] /= 14;
1253
                DebugOut.Analog[21] = motor_rx[4];
1254
                DebugOut.Analog[22] = motor_rx[5];
1255
                DebugOut.Analog[23] = motor_rx[6];
1256
                DebugOut.Analog[24] = motor_rx[7];
1257
                DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7];
805 hbuss 1258
 
911 killagreg 1259
                DebugOut.Analog[9]  = Reading_GyroNick;
886 killagreg 1260
                DebugOut.Analog[9]  = SetPointHeight;
1261
                DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128;
1 ingob 1262
 
886 killagreg 1263
                DebugOut.Analog[10] = FCParam.Gyro_I;
1264
                DebugOut.Analog[10] = ParamSet.Gyro_I;
1265
                DebugOut.Analog[9]  = CompassOffCourse;
911 killagreg 1266
                DebugOut.Analog[10] = GasMixFraction;
886 killagreg 1267
                DebugOut.Analog[3]  = HeightD * 32;
911 killagreg 1268
                DebugOut.Analog[4]  = HeightControlGas;
886 killagreg 1269
                */
1270
        }
604 hbuss 1271
 
886 killagreg 1272
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1273
//  calculate control feedback from angle (gyro integral) and agular velocity (gyro signal)
1274
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1275
 
911 killagreg 1276
        if(Looping_Nick) Reading_GyroNick = Reading_GyroNick * Gyro_P_Factor;
1277
        else Reading_GyroNick = IntegralNick * Gyro_I_Factor + Reading_GyroNick * Gyro_P_Factor;
886 killagreg 1278
        if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor;
1279
        else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor;
1280
        Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2;
854 hbuss 1281
 
911 killagreg 1282
        DebugOut.Analog[21] = Reading_GyroNick;
886 killagreg 1283
        DebugOut.Analog[22] = Reading_GyroRoll;
1 ingob 1284
 
886 killagreg 1285
        // limit control feedback
1286
        #define MAX_SENSOR  (4096 * STICK_GAIN)
911 killagreg 1287
        if(Reading_GyroNick >  MAX_SENSOR) Reading_GyroNick =  MAX_SENSOR;
1288
        if(Reading_GyroNick < -MAX_SENSOR) Reading_GyroNick = -MAX_SENSOR;
1289
        if(Reading_GyroRoll >  MAX_SENSOR) Reading_GyroRoll =  MAX_SENSOR;
1290
        if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR;
1291
        if(Reading_GyroYaw  >  MAX_SENSOR) Reading_GyroYaw  =  MAX_SENSOR;
1292
        if(Reading_GyroYaw  < -MAX_SENSOR) Reading_GyroYaw  = -MAX_SENSOR;
855 hbuss 1293
 
886 killagreg 1294
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1295
// Height Control
911 killagreg 1296
// The height control algorithm reduces the gas but does not increase the gas.
886 killagreg 1297
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1298
 
911 killagreg 1299
        GasMixFraction *= STICK_GAIN;
513 hbuss 1300
 
886 killagreg 1301
        // If height control is activated and no emergency landing is active
936 killagreg 1302
        if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && !(MKFlags & MKFLAG_EMERGENCY_LANDING) )
886 killagreg 1303
        {
1304
                int tmp_int;
1305
                // if height control is activated by an rc channel
1306
                if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH)
1307
                {       // check if parameter is less than activation threshold
1308
                        if(FCParam.MaxHeight < 50)
1309
                        {
1310
                                SetPointHeight = ReadingHeight - 20;  // update SetPoint with current reading
1311
                                HeightControlActive = 0; // disable height control
1312
                        }
1313
                        else HeightControlActive = 1; // enable height control
1314
                }
1315
                else // no switchable height control
1316
                {
1317
                        SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20;
1318
                        HeightControlActive = 1;
1319
                }
1320
                // get current height
1321
                h = ReadingHeight;
911 killagreg 1322
                // if current height is above the setpoint reduce gas
886 killagreg 1323
                if((h > SetPointHeight) && HeightControlActive)
1324
                {
911 killagreg 1325
                        // GasMixFraction - HightDeviation * P  - HeightChange * D - ACCTop * DACC
886 killagreg 1326
                        // height difference -> P control part
1327
                        h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / (16 / STICK_GAIN);
911 killagreg 1328
                        h = GasMixFraction - h; // reduce gas
886 killagreg 1329
                        // height gradient --> D control part
1330
                        //h -= (HeightD * FCParam.Height_D) / (8 / STICK_GAIN);  // D control part
1331
                        h -= (HeightD) / (8 / STICK_GAIN);  // D control part
1332
                        // acceleration sensor effect
1333
                        tmp_int = ((Reading_Integral_Top / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN);
1334
                        if(tmp_int > 70 * STICK_GAIN)        tmp_int =   70 * STICK_GAIN;
1335
                        else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN);
1336
                        h -= tmp_int;
911 killagreg 1337
                        // update height control gas
1338
                        HeightControlGas = (HeightControlGas*15 + h) / 16;
1339
                        // limit gas reduction
1340
                        if(HeightControlGas < ParamSet.Height_MinGas * STICK_GAIN)
886 killagreg 1341
                        {
911 killagreg 1342
                                if(GasMixFraction >= ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = ParamSet.Height_MinGas * STICK_GAIN;
1343
                                // allows landing also if gas stick is reduced below min gas on height control
1344
                                if(GasMixFraction < ParamSet.Height_MinGas * STICK_GAIN) HeightControlGas = GasMixFraction;
886 killagreg 1345
                        }
911 killagreg 1346
                        // limit gas to stick setting
1347
                        if(HeightControlGas > GasMixFraction) HeightControlGas = GasMixFraction;
1348
                        GasMixFraction = HeightControlGas;
886 killagreg 1349
                }
1350
        }
911 killagreg 1351
        // limit gas to parameter setting
1352
        if(GasMixFraction > (ParamSet.Gas_Max - 20) * STICK_GAIN) GasMixFraction = (ParamSet.Gas_Max - 20) * STICK_GAIN;
886 killagreg 1353
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1354
// + Mixer and PI-Controller
1355
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 1356
        DebugOut.Analog[7] = GasMixFraction;
886 killagreg 1357
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1358
// Yaw-Fraction
1359
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1360
    YawMixFraction = Reading_GyroYaw - SetPointYaw * STICK_GAIN;     // yaw controller
911 killagreg 1361
        #define MIN_YAWGAS (40 * STICK_GAIN)  // yaw also below this gas value
886 killagreg 1362
        // limit YawMixFraction
911 killagreg 1363
        if(GasMixFraction > MIN_YAWGAS)
886 killagreg 1364
        {
911 killagreg 1365
                if(YawMixFraction >  (GasMixFraction / 2)) YawMixFraction = GasMixFraction / 2;
1366
                if(YawMixFraction < -(GasMixFraction / 2)) YawMixFraction = -(GasMixFraction / 2);
886 killagreg 1367
        }
1368
        else
1369
        {
911 killagreg 1370
                if(YawMixFraction >  (MIN_YAWGAS / 2)) YawMixFraction = MIN_YAWGAS / 2;
1371
                if(YawMixFraction < -(MIN_YAWGAS / 2)) YawMixFraction = -(MIN_YAWGAS / 2);
886 killagreg 1372
        }
911 killagreg 1373
        tmp_int = ParamSet.Gas_Max * STICK_GAIN;
1374
    if(YawMixFraction >  ((tmp_int - GasMixFraction))) YawMixFraction =  ((tmp_int - GasMixFraction));
1375
    if(YawMixFraction < -((tmp_int - GasMixFraction))) YawMixFraction = -((tmp_int - GasMixFraction));
173 holgerb 1376
 
886 killagreg 1377
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 1378
// Nick-Axis
886 killagreg 1379
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
911 killagreg 1380
    DiffNick = Reading_GyroNick - StickNick;    // get difference
1381
    if(Gyro_I_Factor) SumNick += IntegralNick * Gyro_I_Factor - StickNick; // I-part for attitude control
1382
    else SumNick += DiffNick; // I-part for head holding
1383
    if(SumNick >  (STICK_GAIN * 16000L)) SumNick =  (STICK_GAIN * 16000L);
1384
    if(SumNick < -(STICK_GAIN * 16000L)) SumNick = -(STICK_GAIN * 16000L);
1385
    pd_result = DiffNick + Ki * SumNick; // PI-controller for nick
886 killagreg 1386
 
911 killagreg 1387
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64;
886 killagreg 1388
    if(pd_result >  tmp_int) pd_result =  tmp_int;
1389
    if(pd_result < -tmp_int) pd_result = -tmp_int;
1390
 
1391
        // Motor Front
911 killagreg 1392
    MotorValue = GasMixFraction + pd_result + YawMixFraction;     // Mixer
886 killagreg 1393
    MotorValue /= STICK_GAIN;
1394
        if ((MotorValue < 0)) MotorValue = 0;
936 killagreg 1395
        else if(MotorValue > ParamSet.Gas_Max)            MotorValue = ParamSet.Gas_Max;
911 killagreg 1396
        if (MotorValue < ParamSet.Gas_Min)            MotorValue = ParamSet.Gas_Min;
886 killagreg 1397
        Motor_Front = MotorValue;
1398
 
1399
 // Motor Rear
911 killagreg 1400
        MotorValue = GasMixFraction - pd_result + YawMixFraction;     // Mixer
886 killagreg 1401
        MotorValue /= STICK_GAIN;
1402
        if ((MotorValue < 0)) MotorValue = 0;
911 killagreg 1403
        else if(MotorValue > ParamSet.Gas_Max)      MotorValue = ParamSet.Gas_Max;
936 killagreg 1404
        if (MotorValue < ParamSet.Gas_Min)          MotorValue = ParamSet.Gas_Min;
886 killagreg 1405
        Motor_Rear = MotorValue;
1406
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1407
// Roll-Axis
1408
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1409
        DiffRoll = Reading_GyroRoll - StickRoll;        // get difference
1410
    if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control
1411
    else SumRoll += DiffRoll;  // I-part for head holding
901 killagreg 1412
    if(SumRoll >  (STICK_GAIN * 16000L)) SumRoll =  (STICK_GAIN * 16000L);
1413
    if(SumRoll < -(STICK_GAIN * 16000L)) SumRoll = -(STICK_GAIN * 16000L);
886 killagreg 1414
    pd_result = DiffRoll + Ki * SumRoll;         // PI-controller for roll
911 killagreg 1415
    tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction)/2)) / 64;
886 killagreg 1416
    if(pd_result >  tmp_int) pd_result =  tmp_int;
1417
    if(pd_result < -tmp_int) pd_result = -tmp_int;
1418
 
1419
    // Motor Left
911 killagreg 1420
    MotorValue = GasMixFraction + pd_result - YawMixFraction;  // Mixer
886 killagreg 1421
    MotorValue /= STICK_GAIN;
1422
        if ((MotorValue < 0)) MotorValue = 0;
911 killagreg 1423
        else if(MotorValue > ParamSet.Gas_Max)          MotorValue = ParamSet.Gas_Max;
936 killagreg 1424
        if (MotorValue < ParamSet.Gas_Min)          MotorValue = ParamSet.Gas_Min;
886 killagreg 1425
    Motor_Left = MotorValue;
1426
 
1427
 // Motor Right
911 killagreg 1428
        MotorValue = GasMixFraction - pd_result - YawMixFraction;  // Mixer
886 killagreg 1429
        MotorValue /= STICK_GAIN;
1430
        if ((MotorValue < 0)) MotorValue = 0;
911 killagreg 1431
        else if(MotorValue > ParamSet.Gas_Max)          MotorValue = ParamSet.Gas_Max;
936 killagreg 1432
        if (MotorValue < ParamSet.Gas_Min)          MotorValue = ParamSet.Gas_Min;
886 killagreg 1433
    Motor_Right = MotorValue;
1 ingob 1434
}
1435