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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | /*####################################################################################### |
| 2 | Flight Control |
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| 3 | #######################################################################################*/ |
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| 4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1338 | ingob | 5 | // + Copyright (c) Holger Buss, Ingo Busker |
| 6 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
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| 1 | ingob | 7 | // + www.MikroKopter.com |
| 8 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 9 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| 10 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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| 11 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 12 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 1 | ingob | 13 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| 14 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 16 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| 1 | ingob | 17 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| 18 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 19 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 20 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 21 | // + eindeutig als Ursprung verlinkt werden |
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| 22 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 23 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| 24 | // + Benutzung auf eigene Gefahr |
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| 25 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1338 | ingob | 27 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| 1 | ingob | 28 | // + mit unserer Zustimmung zulässig |
| 29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 30 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1051 | killagreg | 32 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| 1 | ingob | 33 | // + this list of conditions and the following disclaimer. |
| 34 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 35 | // + from this software without specific prior written permission. |
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| 1051 | killagreg | 36 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| 1 | ingob | 37 | // + for non-commercial use (directly or indirectly) |
| 1051 | killagreg | 38 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| 1 | ingob | 39 | // + with our written permission |
| 1051 | killagreg | 40 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| 41 | // + clearly linked as origin |
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| 1338 | ingob | 42 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| 1 | ingob | 43 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| 44 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 45 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 46 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 47 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 48 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 49 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 1322 | hbuss | 50 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| 51 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 1 | ingob | 52 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| 1051 | killagreg | 53 | // + POSSIBILITY OF SUCH DAMAGE. |
| 1 | ingob | 54 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 55 | |||
| 56 | #include "main.h" |
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| 1320 | hbuss | 57 | #include "mymath.h" |
| 1330 | killagreg | 58 | #include "isqrt.h" |
| 1 | ingob | 59 | |
| 1352 | hbuss | 60 | unsigned char h,m,s; |
| 61 | unsigned int BaroExpandActive = 0; |
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| 173 | holgerb | 62 | volatile unsigned int I2CTimeout = 100; |
| 1153 | hbuss | 63 | int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| 1166 | hbuss | 64 | int TrimNick, TrimRoll; |
| 927 | hbuss | 65 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| 1643 | holgerb | 66 | int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch; |
| 67 | unsigned int NeutralAccX=0, NeutralAccY=0; |
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| 805 | hbuss | 68 | int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| 1639 | holgerb | 69 | int NeutralAccZ = 0; |
| 1658 | holgerb | 70 | unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0 , ControlHeading = 0; |
| 693 | hbuss | 71 | long IntegralNick = 0,IntegralNick2 = 0; |
| 72 | long IntegralRoll = 0,IntegralRoll2 = 0; |
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| 73 | long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
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| 74 | long Integral_Gier = 0; |
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| 75 | long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
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| 76 | long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
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| 77 | long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
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| 78 | long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
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| 1 | ingob | 79 | volatile long Mess_Integral_Hoch = 0; |
| 1153 | hbuss | 80 | int KompassValue = 0; |
| 81 | int KompassStartwert = 0; |
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| 82 | int KompassRichtung = 0; |
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| 693 | hbuss | 83 | unsigned int KompassSignalSchlecht = 500; |
| 855 | hbuss | 84 | unsigned char MAX_GAS,MIN_GAS; |
| 1 | ingob | 85 | unsigned char HoehenReglerAktiv = 0; |
| 880 | hbuss | 86 | unsigned char TrichterFlug = 0; |
| 395 | hbuss | 87 | long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| 693 | hbuss | 88 | long ErsatzKompass; |
| 89 | int ErsatzKompassInGrad; // Kompasswert in Grad |
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| 90 | int GierGyroFehler = 0; |
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| 1211 | hbuss | 91 | char GyroFaktor,GyroFaktorGier; |
| 92 | char IntegralFaktor,IntegralFaktorGier; |
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| 1153 | hbuss | 93 | int DiffNick,DiffRoll; |
| 1377 | hbuss | 94 | //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| 1391 | killagreg | 95 | unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
| 1 | ingob | 96 | volatile unsigned char SenderOkay = 0; |
| 595 | hbuss | 97 | int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| 1 | ingob | 98 | char MotorenEin = 0; |
| 1246 | killagreg | 99 | long HoehenWert = 0; |
| 100 | long SollHoehe = 0; |
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| 498 | hbuss | 101 | int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| 1153 | hbuss | 102 | //float Ki = FAKTOR_I; |
| 1652 | holgerb | 103 | int Ki = (10300/2) / 33; |
| 395 | hbuss | 104 | unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| 105 | unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
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| 1 | ingob | 106 | |
| 107 | unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
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| 108 | unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
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| 109 | unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
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| 110 | unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
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| 111 | unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
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| 1283 | hbuss | 112 | unsigned char Parameter_Hoehe_GPS_Z = 64; // Wert : 0-250 |
| 1111 | hbuss | 113 | unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| 173 | holgerb | 114 | unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| 1 | ingob | 115 | unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| 1322 | hbuss | 116 | unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
| 117 | unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
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| 1 | ingob | 118 | unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| 119 | unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
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| 120 | unsigned char Parameter_UserParam1 = 0; |
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| 121 | unsigned char Parameter_UserParam2 = 0; |
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| 122 | unsigned char Parameter_UserParam3 = 0; |
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| 123 | unsigned char Parameter_UserParam4 = 0; |
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| 499 | hbuss | 124 | unsigned char Parameter_UserParam5 = 0; |
| 125 | unsigned char Parameter_UserParam6 = 0; |
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| 126 | unsigned char Parameter_UserParam7 = 0; |
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| 127 | unsigned char Parameter_UserParam8 = 0; |
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| 1 | ingob | 128 | unsigned char Parameter_ServoNickControl = 100; |
| 1232 | hbuss | 129 | unsigned char Parameter_ServoRollControl = 100; |
| 173 | holgerb | 130 | unsigned char Parameter_LoopGasLimit = 70; |
| 1120 | hbuss | 131 | unsigned char Parameter_AchsKopplung1 = 90; |
| 132 | unsigned char Parameter_AchsKopplung2 = 65; |
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| 133 | unsigned char Parameter_CouplingYawCorrection = 64; |
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| 134 | //unsigned char Parameter_AchsGegenKopplung1 = 0; |
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| 499 | hbuss | 135 | unsigned char Parameter_DynamicStability = 100; |
| 921 | hbuss | 136 | unsigned char Parameter_J16Bitmask; // for the J16 Output |
| 137 | unsigned char Parameter_J16Timing; // for the J16 Output |
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| 138 | unsigned char Parameter_J17Bitmask; // for the J17 Output |
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| 139 | unsigned char Parameter_J17Timing; // for the J17 Output |
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| 140 | unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
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| 1051 | killagreg | 141 | unsigned char Parameter_NaviGpsGain; |
| 142 | unsigned char Parameter_NaviGpsP; |
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| 143 | unsigned char Parameter_NaviGpsI; |
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| 144 | unsigned char Parameter_NaviGpsD; |
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| 145 | unsigned char Parameter_NaviGpsACC; |
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| 993 | hbuss | 146 | unsigned char Parameter_NaviOperatingRadius; |
| 147 | unsigned char Parameter_NaviWindCorrection; |
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| 148 | unsigned char Parameter_NaviSpeedCompensation; |
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| 921 | hbuss | 149 | unsigned char Parameter_ExternalControl; |
| 1403 | hbuss | 150 | unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| 1658 | holgerb | 151 | unsigned char HeadFree = 0; |
| 1622 | killagreg | 152 | |
| 492 | hbuss | 153 | signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| 614 | hbuss | 154 | int MaxStickNick = 0,MaxStickRoll = 0; |
| 871 | hbuss | 155 | unsigned int modell_fliegt = 0; |
| 1420 | killagreg | 156 | volatile unsigned char FCFlags = 0; |
| 1121 | hbuss | 157 | long GIER_GRAD_FAKTOR = 1291; |
| 1153 | hbuss | 158 | signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| 1209 | hbuss | 159 | signed int tmp_motorwert[MAX_MOTORS]; |
| 1591 | holgerb | 160 | char VarioCharacter = ' '; |
| 161 | |||
| 1391 | killagreg | 162 | #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| 163 | #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
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| 164 | #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
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| 1155 | hbuss | 165 | |
| 1622 | killagreg | 166 | |
| 1639 | holgerb | 167 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 168 | // Debugwerte zuordnen |
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| 169 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 170 | void CopyDebugValues(void) |
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| 171 | { |
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| 172 | DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
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| 173 | DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
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| 174 | DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
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| 175 | DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
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| 176 | DebugOut.Analog[4] = MesswertGier; |
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| 177 | DebugOut.Analog[5] = HoehenWert/5; |
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| 1643 | holgerb | 178 | DebugOut.Analog[6] = (Mess_Integral_Hoch / 512);//AdWertAccHoch;// Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
| 1639 | holgerb | 179 | DebugOut.Analog[8] = KompassValue; |
| 180 | DebugOut.Analog[9] = UBat; |
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| 181 | DebugOut.Analog[10] = SenderOkay; |
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| 182 | DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
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| 1658 | holgerb | 183 | //DebugOut.Analog[16] = NeutralAccZ; |
| 1639 | holgerb | 184 | //DebugOut.Analog[16] = Motor[0].Temperature; |
| 185 | //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
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| 186 | // DebugOut.Analog[18] = VarioMeter; |
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| 187 | // DebugOut.Analog[19] = WinkelOut.CalcState; |
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| 188 | DebugOut.Analog[20] = ServoNickValue; |
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| 189 | DebugOut.Analog[22] = Capacity.ActualCurrent; |
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| 190 | DebugOut.Analog[23] = Capacity.UsedCapacity; |
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| 191 | // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
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| 192 | // DebugOut.Analog[24] = MesswertNick/2; |
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| 193 | // DebugOut.Analog[25] = MesswertRoll/2; |
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| 194 | // DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
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| 195 | // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
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| 196 | // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
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| 197 | //DebugOut.Analog[28] = I2CError; |
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| 198 | DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
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| 199 | DebugOut.Analog[30] = GPS_Nick; |
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| 200 | DebugOut.Analog[31] = GPS_Roll; |
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| 201 | } |
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| 202 | |||
| 1232 | hbuss | 203 | void Piep(unsigned char Anzahl, unsigned int dauer) |
| 1 | ingob | 204 | { |
| 1232 | hbuss | 205 | if(MotorenEin) return; //auf keinen Fall im Flug! |
| 1 | ingob | 206 | while(Anzahl--) |
| 207 | { |
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| 1232 | hbuss | 208 | beeptime = dauer; |
| 209 | while(beeptime); |
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| 210 | Delay_ms(dauer * 2); |
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| 1 | ingob | 211 | } |
| 212 | } |
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| 213 | |||
| 214 | //############################################################################ |
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| 1622 | killagreg | 215 | // Messwerte beim Ermitteln der Nullage |
| 216 | void CalibrierMittelwert(void) |
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| 217 | //############################################################################ |
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| 218 | { |
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| 219 | unsigned char i; |
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| 220 | if(PlatinenVersion == 13) SucheGyroOffset(); |
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| 221 | // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
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| 222 | ANALOG_OFF; |
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| 223 | MesswertNick = AdWertNick; |
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| 224 | MesswertRoll = AdWertRoll; |
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| 225 | MesswertGier = AdWertGier; |
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| 226 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
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| 227 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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| 228 | Mittelwert_AccHoch = (long)AdWertAccHoch; |
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| 229 | // ADC einschalten |
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| 230 | ANALOG_ON; |
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| 231 | for(i=0;i<8;i++) |
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| 232 | { |
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| 233 | int tmp; |
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| 234 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
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| 235 | LIMIT_MIN_MAX(tmp, 0, 255); |
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| 236 | if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
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| 237 | } |
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| 238 | Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
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| 239 | Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
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| 240 | } |
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| 241 | |||
| 242 | //############################################################################ |
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| 1 | ingob | 243 | // Nullwerte ermitteln |
| 1622 | killagreg | 244 | void SetNeutral(unsigned char AccAdjustment) |
| 1 | ingob | 245 | //############################################################################ |
| 246 | { |
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| 1622 | killagreg | 247 | unsigned char i; |
| 248 | unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
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| 249 | |||
| 1320 | hbuss | 250 | HEF4017R_ON; |
| 1051 | killagreg | 251 | NeutralAccX = 0; |
| 1 | ingob | 252 | NeutralAccY = 0; |
| 253 | NeutralAccZ = 0; |
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| 1622 | killagreg | 254 | |
| 1051 | killagreg | 255 | AdNeutralNick = 0; |
| 256 | AdNeutralRoll = 0; |
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| 1 | ingob | 257 | AdNeutralGier = 0; |
| 1622 | killagreg | 258 | |
| 395 | hbuss | 259 | Parameter_AchsKopplung1 = 0; |
| 1120 | hbuss | 260 | Parameter_AchsKopplung2 = 0; |
| 1622 | killagreg | 261 | |
| 1036 | hbuss | 262 | ExpandBaro = 0; |
| 1622 | killagreg | 263 | |
| 1648 | killagreg | 264 | I2C_SendBLConfig(); |
| 1639 | holgerb | 265 | |
| 1051 | killagreg | 266 | CalibrierMittelwert(); |
| 395 | hbuss | 267 | Delay_ms_Mess(100); |
| 1622 | killagreg | 268 | |
| 1 | ingob | 269 | CalibrierMittelwert(); |
| 1622 | killagreg | 270 | |
| 1 | ingob | 271 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 1051 | killagreg | 272 | { |
| 1 | ingob | 273 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 274 | } |
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| 1166 | hbuss | 275 | #define NEUTRAL_FILTER 32 |
| 276 | for(i=0; i<NEUTRAL_FILTER; i++) |
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| 1111 | hbuss | 277 | { |
| 278 | Delay_ms_Mess(10); |
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| 1216 | killagreg | 279 | gier_neutral += AdWertGier; |
| 1166 | hbuss | 280 | nick_neutral += AdWertNick; |
| 281 | roll_neutral += AdWertRoll; |
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| 1111 | hbuss | 282 | } |
| 1173 | hbuss | 283 | AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| 284 | AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
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| 285 | AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
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| 1622 | killagreg | 286 | |
| 401 | hbuss | 287 | StartNeutralRoll = AdNeutralRoll; |
| 288 | StartNeutralNick = AdNeutralNick; |
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| 1622 | killagreg | 289 | |
| 290 | if(AccAdjustment) |
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| 291 | { |
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| 292 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 293 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 294 | NeutralAccZ = Aktuell_az; |
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| 295 | |||
| 296 | // Save ACC neutral settings to eeprom |
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| 1639 | holgerb | 297 | SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
| 298 | SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
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| 1622 | killagreg | 299 | SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
| 513 | hbuss | 300 | } |
| 1051 | killagreg | 301 | else |
| 513 | hbuss | 302 | { |
| 1622 | killagreg | 303 | // restore from eeprom |
| 304 | NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
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| 305 | NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
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| 306 | NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
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| 307 | // strange settings? |
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| 1638 | holgerb | 308 | if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
| 1622 | killagreg | 309 | { |
| 310 | printf("\n\rACC not calibrated!\r\n"); |
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| 311 | NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
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| 312 | NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
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| 313 | NeutralAccZ = Aktuell_az; |
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| 314 | } |
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| 513 | hbuss | 315 | } |
| 1051 | killagreg | 316 | |
| 1 | ingob | 317 | MesswertNick = 0; |
| 318 | MesswertRoll = 0; |
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| 319 | MesswertGier = 0; |
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| 1111 | hbuss | 320 | Delay_ms_Mess(100); |
| 1174 | hbuss | 321 | Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
| 322 | Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
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| 1173 | hbuss | 323 | IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| 324 | IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
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| 325 | Mess_IntegralNick2 = IntegralNick; |
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| 326 | Mess_IntegralRoll2 = IntegralRoll; |
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| 327 | Mess_Integral_Gier = 0; |
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| 1 | ingob | 328 | StartLuftdruck = Luftdruck; |
| 1253 | killagreg | 329 | VarioMeter = 0; |
| 1 | ingob | 330 | Mess_Integral_Hoch = 0; |
| 331 | KompassStartwert = KompassValue; |
||
| 1658 | holgerb | 332 | ControlHeading = KompassValue / 15; |
| 1 | ingob | 333 | GPS_Neutral(); |
| 1051 | killagreg | 334 | beeptime = 50; |
| 882 | hbuss | 335 | Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| 336 | Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
||
| 492 | hbuss | 337 | ExternHoehenValue = 0; |
| 693 | hbuss | 338 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 339 | GierGyroFehler = 0; |
||
| 723 | hbuss | 340 | SendVersionToNavi = 1; |
| 921 | hbuss | 341 | LED_Init(); |
| 1420 | killagreg | 342 | FCFlags |= FCFLAG_CALIBRATE; |
| 992 | hbuss | 343 | FromNaviCtrl_Value.Kalman_K = -1; |
| 1173 | hbuss | 344 | FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| 992 | hbuss | 345 | FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| 1391 | killagreg | 346 | |
| 347 | for(i=0;i<8;i++) |
||
| 1377 | hbuss | 348 | { |
| 349 | Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
| 350 | } |
||
| 1171 | hbuss | 351 | SenderOkay = 100; |
| 1320 | hbuss | 352 | if(ServoActive) |
| 353 | { |
||
| 354 | HEF4017R_ON; |
||
| 355 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 356 | } |
||
| 1 | ingob | 357 | } |
| 358 | |||
| 359 | //############################################################################ |
||
| 395 | hbuss | 360 | // Bearbeitet die Messwerte |
| 1 | ingob | 361 | void Mittelwert(void) |
| 362 | //############################################################################ |
||
| 1051 | killagreg | 363 | { |
| 1111 | hbuss | 364 | static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| 365 | static signed int oldNick, oldRoll, d2Roll, d2Nick; |
||
| 1153 | hbuss | 366 | signed long winkel_nick, winkel_roll; |
| 1377 | hbuss | 367 | unsigned char i; |
| 1111 | hbuss | 368 | MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| 1171 | hbuss | 369 | MesswertNick = (signed int) AdWertNickFilter / 8; |
| 370 | MesswertRoll = (signed int) AdWertRollFilter / 8; |
||
| 1153 | hbuss | 371 | RohMesswertNick = MesswertNick; |
| 372 | RohMesswertRoll = MesswertRoll; |
||
| 1166 | hbuss | 373 | |
| 395 | hbuss | 374 | // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 375 | Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
| 376 | Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
||
| 377 | Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L; |
||
| 395 | hbuss | 378 | IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| 379 | IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
||
| 805 | hbuss | 380 | NaviAccNick += AdWertAccNick; |
| 381 | NaviAccRoll += AdWertAccRoll; |
||
| 382 | NaviCntAcc++; |
||
| 1153 | hbuss | 383 | IntegralAccZ += Aktuell_az - NeutralAccZ; |
| 384 | |||
| 1155 | hbuss | 385 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
| 386 | // ADC einschalten |
||
| 1171 | hbuss | 387 | ANALOG_ON; |
| 1155 | hbuss | 388 | AdReady = 0; |
| 389 | //++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 390 | |||
| 1216 | killagreg | 391 | if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| 392 | else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
||
| 1153 | hbuss | 393 | else winkel_roll = Mess_IntegralRoll; |
| 394 | |||
| 1216 | killagreg | 395 | if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| 396 | else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
||
| 1153 | hbuss | 397 | else winkel_nick = Mess_IntegralNick; |
| 398 | |||
| 1120 | hbuss | 399 | // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1153 | hbuss | 400 | Mess_Integral_Gier += MesswertGier; |
| 401 | ErsatzKompass += MesswertGier; |
||
| 395 | hbuss | 402 | // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| 403 | if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
||
| 404 | { |
||
| 1153 | hbuss | 405 | tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| 1120 | hbuss | 406 | tmpl3 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 407 | tmpl3 /= 4096L; |
| 1153 | hbuss | 408 | tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| 1216 | killagreg | 409 | tmpl4 *= Parameter_AchsKopplung2; //65 |
| 1111 | hbuss | 410 | tmpl4 /= 4096L; |
| 1153 | hbuss | 411 | KopplungsteilNickRoll = tmpl3; |
| 412 | KopplungsteilRollNick = tmpl4; |
||
| 1111 | hbuss | 413 | tmpl4 -= tmpl3; |
| 414 | ErsatzKompass += tmpl4; |
||
| 1166 | hbuss | 415 | if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| 1111 | hbuss | 416 | |
| 1153 | hbuss | 417 | tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| 1111 | hbuss | 418 | tmpl *= Parameter_AchsKopplung1; // 90 |
| 880 | hbuss | 419 | tmpl /= 4096L; |
| 1153 | hbuss | 420 | tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| 395 | hbuss | 421 | tmpl2 *= Parameter_AchsKopplung1; |
| 1658 | holgerb | 422 | tmpl2 /= 4096L; |
| 1225 | hbuss | 423 | if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| 1153 | hbuss | 424 | //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| 395 | hbuss | 425 | } |
| 1166 | hbuss | 426 | else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| 1658 | holgerb | 427 | TrimRoll = tmpl - tmpl2 / 100L; |
| 428 | TrimNick = -tmpl2 + tmpl / 100L; |
||
| 1111 | hbuss | 429 | // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 430 | if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
||
| 431 | if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
||
| 395 | hbuss | 432 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 433 | Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| 434 | Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
||
| 1051 | killagreg | 435 | if(Mess_IntegralRoll > Umschlag180Roll) |
| 395 | hbuss | 436 | { |
| 882 | hbuss | 437 | Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| 395 | hbuss | 438 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 439 | } |
| 395 | hbuss | 440 | if(Mess_IntegralRoll <-Umschlag180Roll) |
| 441 | { |
||
| 882 | hbuss | 442 | Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| 395 | hbuss | 443 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
| 1051 | killagreg | 444 | } |
| 395 | hbuss | 445 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1166 | hbuss | 446 | Mess_IntegralNick2 += MesswertNick + TrimNick; |
| 447 | Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
||
| 1051 | killagreg | 448 | if(Mess_IntegralNick > Umschlag180Nick) |
| 882 | hbuss | 449 | { |
| 450 | Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
||
| 451 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 1051 | killagreg | 452 | } |
| 453 | if(Mess_IntegralNick <-Umschlag180Nick) |
||
| 395 | hbuss | 454 | { |
| 882 | hbuss | 455 | Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| 395 | hbuss | 456 | Mess_IntegralNick2 = Mess_IntegralNick; |
| 1051 | killagreg | 457 | } |
| 1111 | hbuss | 458 | |
| 1 | ingob | 459 | Integral_Gier = Mess_Integral_Gier; |
| 460 | IntegralNick = Mess_IntegralNick; |
||
| 461 | IntegralRoll = Mess_IntegralRoll; |
||
| 1051 | killagreg | 462 | IntegralNick2 = Mess_IntegralNick2; |
| 1 | ingob | 463 | IntegralRoll2 = Mess_IntegralRoll2; |
| 464 | |||
| 1166 | hbuss | 465 | #define D_LIMIT 128 |
| 466 | |||
| 1171 | hbuss | 467 | MesswertNick = HiResNick / 8; |
| 468 | MesswertRoll = HiResRoll / 8; |
||
| 1166 | hbuss | 469 | |
| 1167 | hbuss | 470 | if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| 471 | if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
||
| 472 | else { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
||
| 473 | if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
||
| 474 | if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
||
| 475 | else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
||
| 476 | |||
| 1216 | killagreg | 477 | if(Parameter_Gyro_D) |
| 1111 | hbuss | 478 | { |
| 1166 | hbuss | 479 | d2Nick = HiResNick - oldNick; |
| 480 | oldNick = (oldNick + HiResNick)/2; |
||
| 1111 | hbuss | 481 | if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| 482 | else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
||
| 1166 | hbuss | 483 | MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
| 484 | d2Roll = HiResRoll - oldRoll; |
||
| 485 | oldRoll = (oldRoll + HiResRoll)/2; |
||
| 1111 | hbuss | 486 | if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| 487 | else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
||
| 1166 | hbuss | 488 | MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| 489 | HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
||
| 490 | HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
||
| 1216 | killagreg | 491 | } |
| 1111 | hbuss | 492 | |
| 1166 | hbuss | 493 | if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| 494 | else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
||
| 495 | if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 496 | else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
||
| 1153 | hbuss | 497 | |
| 498 | if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
||
| 499 | { |
||
| 500 | if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
||
| 501 | else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
||
| 502 | if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
||
| 503 | else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
||
| 504 | } |
||
| 1377 | hbuss | 505 | for(i=0;i<8;i++) |
| 506 | { |
||
| 507 | int tmp; |
||
| 508 | tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
||
| 509 | if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
||
| 1406 | hbuss | 510 | if(tmp != Poti[i]) |
| 511 | { |
||
| 512 | Poti[i] += (tmp - Poti[i]) / 8; |
||
| 1413 | killagreg | 513 | if(Poti[i] > tmp) Poti[i]--; |
| 1406 | hbuss | 514 | else Poti[i]++; |
| 1413 | killagreg | 515 | } |
| 1377 | hbuss | 516 | } |
| 1 | ingob | 517 | } |
| 518 | |||
| 519 | //############################################################################ |
||
| 520 | // Senden der Motorwerte per I2C-Bus |
||
| 521 | void SendMotorData(void) |
||
| 522 | //############################################################################ |
||
| 1051 | killagreg | 523 | { |
| 1209 | hbuss | 524 | unsigned char i; |
| 921 | hbuss | 525 | if(!MotorenEin) |
| 1 | ingob | 526 | { |
| 1420 | killagreg | 527 | FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
| 1216 | killagreg | 528 | for(i=0;i<MAX_MOTORS;i++) |
| 529 | { |
||
| 530 | if(!PC_MotortestActive) MotorTest[i] = 0; |
||
| 1638 | holgerb | 531 | Motor[i].SetPoint = MotorTest[i]; |
| 532 | Motor[i].SetPointLowerBits = 0; |
||
| 533 | /* |
||
| 534 | Motor[i].SetPoint = MotorTest[i] / 4; |
||
| 535 | Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
||
| 536 | */ |
||
| 1216 | killagreg | 537 | } |
| 1212 | hbuss | 538 | if(PC_MotortestActive) PC_MotortestActive--; |
| 1216 | killagreg | 539 | } |
| 1420 | killagreg | 540 | else FCFlags |= FCFLAG_MOTOR_RUN; |
| 1111 | hbuss | 541 | |
| 1479 | killagreg | 542 | DebugOut.Analog[12] = Motor[0].SetPoint; |
| 543 | DebugOut.Analog[13] = Motor[1].SetPoint; |
||
| 1521 | killagreg | 544 | DebugOut.Analog[14] = Motor[2].SetPoint; |
| 545 | DebugOut.Analog[15] = Motor[3].SetPoint; |
||
| 1 | ingob | 546 | |
| 547 | //Start I2C Interrupt Mode |
||
| 548 | twi_state = 0; |
||
| 549 | motor = 0; |
||
| 1639 | holgerb | 550 | I2C_Start(); |
| 1 | ingob | 551 | } |
| 552 | |||
| 553 | |||
| 554 | |||
| 555 | //############################################################################ |
||
| 556 | // Trägt ggf. das Poti als Parameter ein |
||
| 1051 | killagreg | 557 | void ParameterZuordnung(void) |
| 1 | ingob | 558 | //############################################################################ |
| 559 | { |
||
| 1652 | holgerb | 560 | |
| 1391 | killagreg | 561 | #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
| 562 | #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
||
| 563 | |||
| 921 | hbuss | 564 | CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| 565 | CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
||
| 566 | CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
||
| 567 | CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
||
| 568 | CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
||
| 1403 | hbuss | 569 | CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
| 570 | CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
||
| 571 | CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
||
| 1377 | hbuss | 572 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| 1403 | hbuss | 573 | CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| 1377 | hbuss | 574 | CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
| 575 | CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
||
| 576 | CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
||
| 577 | CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
||
| 578 | CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
||
| 579 | CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
||
| 580 | CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
||
| 581 | CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
||
| 582 | CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
||
| 583 | CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
||
| 584 | CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
||
| 585 | CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
||
| 586 | CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
||
| 587 | CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
||
| 588 | CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
||
| 589 | CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
||
| 590 | CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
||
| 591 | CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
||
| 592 | CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
||
| 593 | CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1); |
||
| 594 | CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2); |
||
| 595 | CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
||
| 596 | // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
||
| 597 | CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
||
| 598 | CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
||
| 1652 | holgerb | 599 | Ki = (10300 / 2) / (Parameter_I_Faktor + 1); |
| 1 | ingob | 600 | MAX_GAS = EE_Parameter.Gas_Max; |
| 1658 | holgerb | 601 | MIN_GAS = EE_Parameter.Gas_Min; |
| 602 | if(Poti4 > 50) HeadFree = 1; else HeadFree = 0; |
||
| 603 | if(HeadFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
||
| 1 | ingob | 604 | } |
| 605 | |||
| 606 | //############################################################################ |
||
| 607 | // |
||
| 608 | void MotorRegler(void) |
||
| 609 | //############################################################################ |
||
| 610 | { |
||
| 1330 | killagreg | 611 | int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
| 1 | ingob | 612 | int GierMischanteil,GasMischanteil; |
| 613 | static long SummeNick=0,SummeRoll=0; |
||
| 614 | static long sollGier = 0,tmp_long,tmp_long2; |
||
| 395 | hbuss | 615 | static long IntegralFehlerNick = 0; |
| 616 | static long IntegralFehlerRoll = 0; |
||
| 1 | ingob | 617 | static unsigned int RcLostTimer; |
| 618 | static unsigned char delay_neutral = 0; |
||
| 619 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
||
| 1622 | killagreg | 620 | static unsigned char calibration_done = 0; |
| 1 | ingob | 621 | static char NeueKompassRichtungMerken = 0; |
| 395 | hbuss | 622 | static long ausgleichNick, ausgleichRoll; |
| 1153 | hbuss | 623 | int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| 1209 | hbuss | 624 | unsigned char i; |
| 1051 | killagreg | 625 | Mittelwert(); |
| 1 | ingob | 626 | GRN_ON; |
| 1051 | killagreg | 627 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 628 | // Gaswert ermitteln |
| 1051 | killagreg | 629 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 630 | GasMischanteil = StickGas; |
||
| 831 | hbuss | 631 | if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| 1330 | killagreg | 632 | |
| 1051 | killagreg | 633 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 634 | // Empfang schlecht |
| 1051 | killagreg | 635 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 636 | if(SenderOkay < 100) |
| 637 | { |
||
| 1051 | killagreg | 638 | if(RcLostTimer) RcLostTimer--; |
| 639 | else |
||
| 1 | ingob | 640 | { |
| 641 | MotorenEin = 0; |
||
| 1420 | killagreg | 642 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
| 1051 | killagreg | 643 | } |
| 1 | ingob | 644 | ROT_ON; |
| 693 | hbuss | 645 | if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| 1 | ingob | 646 | { |
| 647 | GasMischanteil = EE_Parameter.NotGas; |
||
| 1420 | killagreg | 648 | FCFlags |= FCFLAG_NOTLANDUNG; |
| 744 | hbuss | 649 | PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 1051 | killagreg | 650 | PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| 1 | ingob | 651 | PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| 652 | PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
||
| 653 | PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
||
| 173 | holgerb | 654 | } |
| 1 | ingob | 655 | else MotorenEin = 0; |
| 656 | } |
||
| 1051 | killagreg | 657 | else |
| 658 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 659 | // Emfang gut |
| 1051 | killagreg | 660 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 661 | if(SenderOkay > 140) |
| 662 | { |
||
| 1420 | killagreg | 663 | FCFlags &= ~FCFLAG_NOTLANDUNG; |
| 1 | ingob | 664 | RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| 921 | hbuss | 665 | if(GasMischanteil > 40 && MotorenEin) |
| 1 | ingob | 666 | { |
| 667 | if(modell_fliegt < 0xffff) modell_fliegt++; |
||
| 668 | } |
||
| 871 | hbuss | 669 | if((modell_fliegt < 256)) |
| 1 | ingob | 670 | { |
| 671 | SummeNick = 0; |
||
| 672 | SummeRoll = 0; |
||
| 1051 | killagreg | 673 | if(modell_fliegt == 250) |
| 918 | hbuss | 674 | { |
| 1051 | killagreg | 675 | NeueKompassRichtungMerken = 1; |
| 918 | hbuss | 676 | sollGier = 0; |
| 1051 | killagreg | 677 | Mess_Integral_Gier = 0; |
| 927 | hbuss | 678 | // Mess_Integral_Gier2 = 0; |
| 1051 | killagreg | 679 | } |
| 1420 | killagreg | 680 | } else FCFlags |= FCFLAG_FLY; |
| 1051 | killagreg | 681 | |
| 595 | hbuss | 682 | if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| 1 | ingob | 683 | { |
| 1051 | killagreg | 684 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 685 | // auf Nullwerte kalibrieren |
| 1051 | killagreg | 686 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 687 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| 688 | { |
||
| 689 | if(++delay_neutral > 200) // nicht sofort |
||
| 690 | { |
||
| 691 | GRN_OFF; |
||
| 692 | MotorenEin = 0; |
||
| 693 | delay_neutral = 0; |
||
| 694 | modell_fliegt = 0; |
||
| 695 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
||
| 696 | { |
||
| 304 | ingob | 697 | unsigned char setting=1; |
| 1 | ingob | 698 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| 699 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
||
| 700 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
||
| 701 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
||
| 702 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
||
| 1622 | killagreg | 703 | SetActiveParamSet(setting); // aktiven Datensatz merken |
| 1 | ingob | 704 | } |
| 820 | hbuss | 705 | // else |
| 1051 | killagreg | 706 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| 707 | { |
||
| 819 | hbuss | 708 | WinkelOut.CalcState = 1; |
| 709 | beeptime = 1000; |
||
| 710 | } |
||
| 711 | else |
||
| 1 | ingob | 712 | { |
| 1622 | killagreg | 713 | ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| 1413 | killagreg | 714 | LipoDetection(0); |
| 1626 | killagreg | 715 | LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| 819 | hbuss | 716 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| 717 | { |
||
| 1 | ingob | 718 | if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| 1051 | killagreg | 719 | } |
| 1330 | killagreg | 720 | ServoActive = 0; |
| 1622 | killagreg | 721 | SetNeutral(0); |
| 722 | calibration_done = 1; |
||
| 1232 | hbuss | 723 | ServoActive = 1; |
| 724 | DDRD |=0x80; // enable J7 -> Servo signal |
||
| 1622 | killagreg | 725 | Piep(GetActiveParamSet(),120); |
| 819 | hbuss | 726 | } |
| 1051 | killagreg | 727 | } |
| 1 | ingob | 728 | } |
| 1051 | killagreg | 729 | else |
| 513 | hbuss | 730 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| 731 | { |
||
| 732 | if(++delay_neutral > 200) // nicht sofort |
||
| 733 | { |
||
| 734 | GRN_OFF; |
||
| 735 | MotorenEin = 0; |
||
| 736 | delay_neutral = 0; |
||
| 737 | modell_fliegt = 0; |
||
| 1622 | killagreg | 738 | SetNeutral(1); |
| 739 | calibration_done = 1; |
||
| 740 | Piep(GetActiveParamSet(),120); |
||
| 1051 | killagreg | 741 | } |
| 513 | hbuss | 742 | } |
| 1 | ingob | 743 | else delay_neutral = 0; |
| 744 | } |
||
| 1051 | killagreg | 745 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 746 | // Gas ist unten |
| 1051 | killagreg | 747 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 595 | hbuss | 748 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| 1 | ingob | 749 | { |
| 1521 | killagreg | 750 | // Motoren Starten |
| 751 | if(!MotorenEin) |
||
| 752 | { |
||
| 753 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
||
| 754 | { |
||
| 1051 | killagreg | 755 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 756 | // Einschalten |
| 1051 | killagreg | 757 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 758 | if(++delay_einschalten > 200) |
| 759 | { |
||
| 760 | delay_einschalten = 0; |
||
| 1622 | killagreg | 761 | if(calibration_done) |
| 762 | { |
||
| 763 | modell_fliegt = 1; |
||
| 764 | MotorenEin = 1; |
||
| 765 | sollGier = 0; |
||
| 766 | Mess_Integral_Gier = 0; |
||
| 767 | Mess_Integral_Gier2 = 0; |
||
| 768 | Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
||
| 769 | Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
||
| 770 | Mess_IntegralNick2 = IntegralNick; |
||
| 771 | Mess_IntegralRoll2 = IntegralRoll; |
||
| 772 | SummeNick = 0; |
||
| 773 | SummeRoll = 0; |
||
| 774 | FCFlags |= FCFLAG_START; |
||
| 775 | } |
||
| 776 | else |
||
| 777 | { |
||
| 778 | beeptime = 1500; // indicate missing calibration |
||
| 779 | } |
||
| 1521 | killagreg | 780 | } |
| 781 | } |
||
| 782 | else delay_einschalten = 0; |
||
| 783 | } |
||
| 1051 | killagreg | 784 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 785 | // Auschalten |
| 1051 | killagreg | 786 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1521 | killagreg | 787 | else // only if motors are running |
| 788 | { |
||
| 789 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
||
| 790 | { |
||
| 791 | if(++delay_ausschalten > 200) // nicht sofort |
||
| 792 | { |
||
| 793 | MotorenEin = 0; |
||
| 794 | delay_ausschalten = 0; |
||
| 795 | modell_fliegt = 0; |
||
| 796 | } |
||
| 797 | } |
||
| 798 | else delay_ausschalten = 0; |
||
| 799 | } |
||
| 1 | ingob | 800 | } |
| 801 | } |
||
| 1051 | killagreg | 802 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 803 | // neue Werte von der Funke |
| 1051 | killagreg | 804 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 805 | |
| 1420 | killagreg | 806 | if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
| 1 | ingob | 807 | { |
| 604 | hbuss | 808 | static int stick_nick,stick_roll; |
| 1658 | holgerb | 809 | |
| 810 | unsigned char angle = 180/15; |
||
| 811 | signed char sintab[31] = { 0, 4, 8, 11, 14, 16, 16, 16, 14, 11, 8, 4, 0, -4, -8, -11, -14, -16, -16, -16, -14, -11, -8, -4, 0, 4, 8, 11, 14, 16, 16}; |
||
| 812 | //signed char costab[24] = {16, 16, 14, 11, 8, 4, 0, -4, -8, -11, -14, -16, -16, -16, -14, -11, -8, -4, 0, 4, 8, 11, 14, 16}; |
||
| 813 | angle = (ControlHeading + (360/15) - ErsatzKompass / (GIER_GRAD_FAKTOR * 15)) % 24; |
||
| 814 | |||
| 815 | signed int cos_h, sin_h; |
||
| 816 | cos_h = sintab[angle + 6]/2; |
||
| 817 | sin_h = sintab[angle]/2; |
||
| 818 | |||
| 1 | ingob | 819 | ParameterZuordnung(); |
| 1051 | killagreg | 820 | stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| 723 | hbuss | 821 | stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| 822 | stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
||
| 823 | stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
||
| 824 | |||
| 1658 | holgerb | 825 | if(HeadFree) |
| 826 | { |
||
| 827 | StickNick = ((cos_h * stick_nick) + (sin_h * stick_roll))/8; |
||
| 828 | StickRoll = ((cos_h * stick_roll) - (sin_h * stick_nick))/8; |
||
| 829 | } |
||
| 830 | else |
||
| 831 | { |
||
| 832 | StickNick = stick_nick; |
||
| 833 | StickRoll = stick_roll; |
||
| 834 | } |
||
| 835 | |||
| 1 | ingob | 836 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| 1120 | hbuss | 837 | if(StickGier > 2) StickGier -= 2; else |
| 838 | if(StickGier < -2) StickGier += 2; else StickGier = 0; |
||
| 839 | |||
| 1658 | holgerb | 840 | StickNick -= (GPS_Nick + GPS_Nick2); |
| 841 | StickRoll -= (GPS_Roll + GPS_Roll2); |
||
| 1350 | hbuss | 842 | StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| 1330 | killagreg | 843 | |
| 1153 | hbuss | 844 | GyroFaktor = (Parameter_Gyro_P + 10.0); |
| 845 | IntegralFaktor = Parameter_Gyro_I; |
||
| 1322 | hbuss | 846 | GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| 847 | IntegralFaktorGier = Parameter_Gyro_Gier_I; |
||
| 1 | ingob | 848 | |
| 595 | hbuss | 849 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 850 | //+ Analoge Steuerung per Seriell |
||
| 851 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 921 | hbuss | 852 | if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128) |
| 595 | hbuss | 853 | { |
| 854 | StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
||
| 855 | StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
||
| 856 | StickGier += ExternControl.Gier; |
||
| 857 | ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 858 | if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
||
| 859 | } |
||
| 855 | hbuss | 860 | if(StickGas < 0) StickGas = 0; |
| 1330 | killagreg | 861 | |
| 1 | ingob | 862 | if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| 1330 | killagreg | 863 | //if(GyroFaktor < 0) GyroFaktor = 0; |
| 864 | //if(IntegralFaktor < 0) IntegralFaktor = 0; |
||
| 723 | hbuss | 865 | |
| 1051 | killagreg | 866 | if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| 928 | hbuss | 867 | { |
| 1051 | killagreg | 868 | MaxStickNick = abs(StickNick)/STICK_GAIN; |
| 928 | hbuss | 869 | if(MaxStickNick > 100) MaxStickNick = 100; |
| 1051 | killagreg | 870 | } |
| 928 | hbuss | 871 | else MaxStickNick--; |
| 1051 | killagreg | 872 | if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| 928 | hbuss | 873 | { |
| 1051 | killagreg | 874 | MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| 928 | hbuss | 875 | if(MaxStickRoll > 100) MaxStickRoll = 100; |
| 1051 | killagreg | 876 | } |
| 928 | hbuss | 877 | else MaxStickRoll--; |
| 1420 | killagreg | 878 | if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
| 723 | hbuss | 879 | |
| 1051 | killagreg | 880 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 881 | // Looping? |
| 1051 | killagreg | 882 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 993 | hbuss | 883 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| 1051 | killagreg | 884 | else |
| 885 | { |
||
| 395 | hbuss | 886 | { |
| 1051 | killagreg | 887 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| 888 | } |
||
| 889 | } |
||
| 993 | hbuss | 890 | if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| 1051 | killagreg | 891 | else |
| 395 | hbuss | 892 | { |
| 893 | if(Looping_Rechts) // Hysterese |
||
| 894 | { |
||
| 895 | if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
||
| 896 | } |
||
| 1051 | killagreg | 897 | } |
| 173 | holgerb | 898 | |
| 993 | hbuss | 899 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| 1051 | killagreg | 900 | else |
| 901 | { |
||
| 395 | hbuss | 902 | if(Looping_Oben) // Hysterese |
| 903 | { |
||
| 1051 | killagreg | 904 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| 905 | } |
||
| 906 | } |
||
| 993 | hbuss | 907 | if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| 1051 | killagreg | 908 | else |
| 395 | hbuss | 909 | { |
| 910 | if(Looping_Unten) // Hysterese |
||
| 911 | { |
||
| 912 | if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
||
| 913 | } |
||
| 1051 | killagreg | 914 | } |
| 395 | hbuss | 915 | |
| 916 | if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
||
| 1153 | hbuss | 917 | if(Looping_Oben || Looping_Unten) { Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| 395 | hbuss | 918 | } // Ende neue Funken-Werte |
| 919 | |||
| 920 | if(Looping_Roll || Looping_Nick) |
||
| 921 | { |
||
| 173 | holgerb | 922 | if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| 1153 | hbuss | 923 | TrichterFlug = 1; |
| 173 | holgerb | 924 | } |
| 925 | |||
| 1051 | killagreg | 926 | |
| 927 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 928 | // Bei Empfangsausfall im Flug |
||
| 929 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1420 | killagreg | 930 | if(FCFlags & FCFLAG_NOTLANDUNG) |
| 1 | ingob | 931 | { |
| 932 | StickGier = 0; |
||
| 933 | StickNick = 0; |
||
| 934 | StickRoll = 0; |
||
| 1211 | hbuss | 935 | GyroFaktor = 90; |
| 936 | IntegralFaktor = 120; |
||
| 937 | GyroFaktorGier = 90; |
||
| 938 | IntegralFaktorGier = 120; |
||
| 173 | holgerb | 939 | Looping_Roll = 0; |
| 940 | Looping_Nick = 0; |
||
| 1051 | killagreg | 941 | } |
| 395 | hbuss | 942 | |
| 943 | |||
| 1051 | killagreg | 944 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 945 | // Integrale auf ACC-Signal abgleichen |
| 1051 | killagreg | 946 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 947 | #define ABGLEICH_ANZAHL 256L |
| 948 | |||
| 949 | MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
||
| 950 | MittelIntegralRoll += IntegralRoll; |
||
| 951 | MittelIntegralNick2 += IntegralNick2; |
||
| 952 | MittelIntegralRoll2 += IntegralRoll2; |
||
| 953 | |||
| 954 | if(Looping_Nick || Looping_Roll) |
||
| 955 | { |
||
| 956 | IntegralAccNick = 0; |
||
| 957 | IntegralAccRoll = 0; |
||
| 958 | MittelIntegralNick = 0; |
||
| 959 | MittelIntegralRoll = 0; |
||
| 960 | MittelIntegralNick2 = 0; |
||
| 961 | MittelIntegralRoll2 = 0; |
||
| 962 | Mess_IntegralNick2 = Mess_IntegralNick; |
||
| 963 | Mess_IntegralRoll2 = Mess_IntegralRoll; |
||
| 964 | ZaehlMessungen = 0; |
||
| 498 | hbuss | 965 | LageKorrekturNick = 0; |
| 966 | LageKorrekturRoll = 0; |
||
| 395 | hbuss | 967 | } |
| 968 | |||
| 1051 | killagreg | 969 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1224 | hbuss | 970 | if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| 469 | hbuss | 971 | { |
| 972 | long tmp_long, tmp_long2; |
||
| 1171 | hbuss | 973 | if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
| 992 | hbuss | 974 | { |
| 975 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 976 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 977 | tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 978 | tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
||
| 992 | hbuss | 979 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| 980 | { |
||
| 981 | tmp_long /= 2; |
||
| 982 | tmp_long2 /= 2; |
||
| 983 | } |
||
| 984 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 985 | { |
||
| 986 | tmp_long /= 3; |
||
| 987 | tmp_long2 /= 3; |
||
| 988 | } |
||
| 989 | if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 990 | if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 991 | if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 992 | if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
||
| 993 | } |
||
| 1051 | killagreg | 994 | else |
| 992 | hbuss | 995 | { |
| 996 | tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
||
| 1051 | killagreg | 997 | tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| 992 | hbuss | 998 | tmp_long /= 16; |
| 999 | tmp_long2 /= 16; |
||
| 1000 | if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
||
| 1001 | { |
||
| 1002 | tmp_long /= 3; |
||
| 1003 | tmp_long2 /= 3; |
||
| 1216 | killagreg | 1004 | } |
| 1005 | if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
||
| 992 | hbuss | 1006 | { |
| 1007 | tmp_long /= 3; |
||
| 1008 | tmp_long2 /= 3; |
||
| 1009 | } |
||
| 1155 | hbuss | 1010 | |
| 1011 | #define AUSGLEICH 32 |
||
| 992 | hbuss | 1012 | if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| 1013 | if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
||
| 1014 | if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
||
| 1015 | if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
||
| 1016 | } |
||
| 1166 | hbuss | 1017 | |
| 1018 | //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
||
| 1111 | hbuss | 1019 | Mess_IntegralNick -= tmp_long; |
| 1020 | Mess_IntegralRoll -= tmp_long2; |
||
| 469 | hbuss | 1021 | } |
| 1051 | killagreg | 1022 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1023 | if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| 1024 | { |
||
| 1025 | static int cnt = 0; |
||
| 1026 | static char last_n_p,last_n_n,last_r_p,last_r_n; |
||
| 1027 | static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
||
| 1173 | hbuss | 1028 | if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp) |
| 173 | holgerb | 1029 | { |
| 395 | hbuss | 1030 | MittelIntegralNick /= ABGLEICH_ANZAHL; |
| 1031 | MittelIntegralRoll /= ABGLEICH_ANZAHL; |
||
| 1032 | IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
||
| 1033 | IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
||
| 1034 | IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
||
| 492 | hbuss | 1035 | #define MAX_I 0//(Poti2/10) |
| 395 | hbuss | 1036 | // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1037 | IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
||
| 1038 | ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
||
| 1051 | killagreg | 1039 | // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1040 | IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
||
| 395 | hbuss | 1041 | ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| 614 | hbuss | 1042 | |
| 1043 | LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
||
| 498 | hbuss | 1044 | LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1045 | |
| 992 | hbuss | 1046 | if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| 614 | hbuss | 1047 | { |
| 1048 | LageKorrekturNick /= 2; |
||
| 720 | ingob | 1049 | LageKorrekturRoll /= 2; |
| 614 | hbuss | 1050 | } |
| 498 | hbuss | 1051 | |
| 1051 | killagreg | 1052 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1053 | // Gyro-Drift ermitteln |
| 1051 | killagreg | 1054 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 395 | hbuss | 1055 | MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| 1056 | MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
||
| 1051 | killagreg | 1057 | tmp_long = IntegralNick2 - IntegralNick; |
| 1058 | tmp_long2 = IntegralRoll2 - IntegralRoll; |
||
| 395 | hbuss | 1059 | //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| 1060 | |||
| 1061 | IntegralFehlerNick = tmp_long; |
||
| 1062 | IntegralFehlerRoll = tmp_long2; |
||
| 1063 | Mess_IntegralNick2 -= IntegralFehlerNick; |
||
| 1064 | Mess_IntegralRoll2 -= IntegralFehlerRoll; |
||
| 1065 | |||
| 1111 | hbuss | 1066 | if(EE_Parameter.Driftkomp) |
| 1067 | { |
||
| 1622 | killagreg | 1068 | if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
| 1069 | if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
||
| 1111 | hbuss | 1070 | } |
| 693 | hbuss | 1071 | GierGyroFehler = 0; |
| 720 | ingob | 1072 | |
| 1073 | |||
| 1243 | killagreg | 1074 | #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| 1075 | #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
||
| 1225 | hbuss | 1076 | #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
| 492 | hbuss | 1077 | #define BEWEGUNGS_LIMIT 20000 |
| 395 | hbuss | 1078 | // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1079 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
||
| 1225 | hbuss | 1080 | if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| 1173 | hbuss | 1081 | if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1082 | { |
| 1051 | killagreg | 1083 | if(IntegralFehlerNick > FEHLER_LIMIT2) |
| 395 | hbuss | 1084 | { |
| 1051 | killagreg | 1085 | if(last_n_p) |
| 395 | hbuss | 1086 | { |
| 1173 | hbuss | 1087 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1088 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1089 | if(ausgleichNick > 5000) ausgleichNick = 5000; |
| 498 | hbuss | 1090 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1091 | } |
| 395 | hbuss | 1092 | else last_n_p = 1; |
| 1093 | } else last_n_p = 0; |
||
| 1051 | killagreg | 1094 | if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| 395 | hbuss | 1095 | { |
| 1096 | if(last_n_n) |
||
| 1051 | killagreg | 1097 | { |
| 1173 | hbuss | 1098 | cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1099 | ausgleichNick = IntegralFehlerNick / 8; |
| 401 | hbuss | 1100 | if(ausgleichNick < -5000) ausgleichNick = -5000; |
| 498 | hbuss | 1101 | LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1102 | } |
| 395 | hbuss | 1103 | else last_n_n = 1; |
| 1104 | } else last_n_n = 0; |
||
| 1051 | killagreg | 1105 | } |
| 1106 | else |
||
| 847 | hbuss | 1107 | { |
| 1108 | cnt = 0; |
||
| 921 | hbuss | 1109 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1110 | } |
| 499 | hbuss | 1111 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1112 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1113 | if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| 1114 | if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
||
| 401 | hbuss | 1115 | |
| 395 | hbuss | 1116 | // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| 492 | hbuss | 1117 | cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| 1225 | hbuss | 1118 | if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| 498 | hbuss | 1119 | ausgleichRoll = 0; |
| 1173 | hbuss | 1120 | if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| 492 | hbuss | 1121 | { |
| 1051 | killagreg | 1122 | if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| 395 | hbuss | 1123 | { |
| 1051 | killagreg | 1124 | if(last_r_p) |
| 395 | hbuss | 1125 | { |
| 1173 | hbuss | 1126 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1127 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1128 | if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| 498 | hbuss | 1129 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 1051 | killagreg | 1130 | } |
| 395 | hbuss | 1131 | else last_r_p = 1; |
| 1132 | } else last_r_p = 0; |
||
| 1051 | killagreg | 1133 | if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| 395 | hbuss | 1134 | { |
| 1051 | killagreg | 1135 | if(last_r_n) |
| 395 | hbuss | 1136 | { |
| 1173 | hbuss | 1137 | cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 492 | hbuss | 1138 | ausgleichRoll = IntegralFehlerRoll / 8; |
| 401 | hbuss | 1139 | if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| 498 | hbuss | 1140 | LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| 395 | hbuss | 1141 | } |
| 1142 | else last_r_n = 1; |
||
| 1143 | } else last_r_n = 0; |
||
| 1051 | killagreg | 1144 | } else |
| 492 | hbuss | 1145 | { |
| 1146 | cnt = 0; |
||
| 921 | hbuss | 1147 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1148 | } |
| 499 | hbuss | 1149 | if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| 1173 | hbuss | 1150 | if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| 395 | hbuss | 1151 | if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| 1152 | if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
||
| 173 | holgerb | 1153 | } |
| 1051 | killagreg | 1154 | else |
| 498 | hbuss | 1155 | { |
| 1156 | LageKorrekturRoll = 0; |
||
| 1157 | LageKorrekturNick = 0; |
||
| 880 | hbuss | 1158 | TrichterFlug = 0; |
| 498 | hbuss | 1159 | } |
| 1051 | killagreg | 1160 | |
| 498 | hbuss | 1161 | if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| 1051 | killagreg | 1162 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1163 | MittelIntegralNick_Alt = MittelIntegralNick; |
||
| 1164 | MittelIntegralRoll_Alt = MittelIntegralRoll; |
||
| 1165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 395 | hbuss | 1166 | IntegralAccNick = 0; |
| 1167 | IntegralAccRoll = 0; |
||
| 1168 | IntegralAccZ = 0; |
||
| 1169 | MittelIntegralNick = 0; |
||
| 1170 | MittelIntegralRoll = 0; |
||
| 1171 | MittelIntegralNick2 = 0; |
||
| 1172 | MittelIntegralRoll2 = 0; |
||
| 1173 | ZaehlMessungen = 0; |
||
| 1173 | hbuss | 1174 | } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| 395 | hbuss | 1175 | |
| 1051 | killagreg | 1176 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1177 | // Gieren |
| 1051 | killagreg | 1178 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 693 | hbuss | 1179 | // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
| 1051 | killagreg | 1180 | if(abs(StickGier) > 15) // war 35 |
| 1 | ingob | 1181 | { |
| 921 | hbuss | 1182 | KompassSignalSchlecht = 1000; |
| 1051 | killagreg | 1183 | if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
| 1184 | { |
||
| 1185 | NeueKompassRichtungMerken = 1; |
||
| 824 | hbuss | 1186 | }; |
| 1 | ingob | 1187 | } |
| 395 | hbuss | 1188 | tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| 1051 | killagreg | 1189 | tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| 173 | holgerb | 1190 | sollGier = tmp_int; |
| 1051 | killagreg | 1191 | Mess_Integral_Gier -= tmp_int; |
| 395 | hbuss | 1192 | if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| 1193 | if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
||
| 1051 | killagreg | 1194 | |
| 1195 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1196 | // Kompass |
| 1051 | killagreg | 1197 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1658 | holgerb | 1198 | DebugOut.Analog[18] = KompassSignalSchlecht; |
| 819 | hbuss | 1199 | |
| 1051 | killagreg | 1200 | if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| 1 | ingob | 1201 | { |
| 819 | hbuss | 1202 | int w,v,r,fehler,korrektur; |
| 1 | ingob | 1203 | w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| 1204 | v = abs(IntegralRoll /512); |
||
| 1205 | if(v > w) w = v; // grösste Neigung ermitteln |
||
| 1658 | holgerb | 1206 | korrektur = w / 8 + 2; |
| 921 | hbuss | 1207 | fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| 1171 | hbuss | 1208 | if(abs(MesswertGier) > 128) |
| 1036 | hbuss | 1209 | { |
| 1658 | holgerb | 1210 | // korrektur = korrektur = w / 16 + 2; // schnell konvergieren |
| 1051 | killagreg | 1211 | } |
| 921 | hbuss | 1212 | if(!KompassSignalSchlecht && w < 25) |
| 1213 | { |
||
| 1214 | GierGyroFehler += fehler; |
||
| 1051 | killagreg | 1215 | if(NeueKompassRichtungMerken) |
| 1216 | { |
||
| 1171 | hbuss | 1217 | ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| 921 | hbuss | 1218 | KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| 1219 | NeueKompassRichtungMerken = 0; |
||
| 1220 | } |
||
| 1 | ingob | 1221 | } |
| 1658 | holgerb | 1222 | DebugOut.Analog[16] = fehler; |
| 1223 | DebugOut.Analog[17] = korrektur; |
||
| 1224 | ErsatzKompass += (fehler * 16) / korrektur; |
||
| 921 | hbuss | 1225 | w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
| 1 | ingob | 1226 | w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| 921 | hbuss | 1227 | if(w >= 0) |
| 1 | ingob | 1228 | { |
| 1051 | killagreg | 1229 | if(!KompassSignalSchlecht) |
| 693 | hbuss | 1230 | { |
| 1051 | killagreg | 1231 | v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| 847 | hbuss | 1232 | r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| 1233 | // r = KompassRichtung; |
||
| 819 | hbuss | 1234 | v = (r * w) / v; // nach Kompass ausrichten |
| 1235 | w = 3 * Parameter_KompassWirkung; |
||
| 693 | hbuss | 1236 | if(v > w) v = w; // Begrenzen |
| 1051 | killagreg | 1237 | else |
| 693 | hbuss | 1238 | if(v < -w) v = -w; |
| 1239 | Mess_Integral_Gier += v; |
||
| 1051 | killagreg | 1240 | } |
| 693 | hbuss | 1241 | if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| 1051 | killagreg | 1242 | } |
| 921 | hbuss | 1243 | else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| 1051 | killagreg | 1244 | } |
| 1 | ingob | 1245 | |
| 1051 | killagreg | 1246 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1247 | // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| 1051 | killagreg | 1248 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1216 | killagreg | 1249 | if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| 604 | hbuss | 1250 | |
| 1171 | hbuss | 1251 | if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| 1252 | if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
||
| 1153 | hbuss | 1253 | |
| 1167 | hbuss | 1254 | #define TRIM_MAX 200 |
| 1166 | hbuss | 1255 | if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| 1256 | if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
||
| 1153 | hbuss | 1257 | |
| 1166 | hbuss | 1258 | MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| 1259 | MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
||
| 1211 | hbuss | 1260 | MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| 1166 | hbuss | 1261 | |
| 1 | ingob | 1262 | // Maximalwerte abfangen |
| 1153 | hbuss | 1263 | // #define MAX_SENSOR (4096*STICK_GAIN) |
| 1264 | #define MAX_SENSOR (4096*4) |
||
| 1216 | killagreg | 1265 | if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| 1 | ingob | 1266 | if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| 1267 | if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
||
| 1268 | if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
||
| 1269 | if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
||
| 1270 | if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
||
| 1271 | |||
| 1051 | killagreg | 1272 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1273 | // Höhenregelung |
| 1274 | // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
||
| 1051 | killagreg | 1275 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1374 | hbuss | 1276 | if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| 855 | hbuss | 1277 | GasMischanteil *= STICK_GAIN; |
| 1309 | hbuss | 1278 | // if height control is activated |
| 1322 | hbuss | 1279 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| 1309 | hbuss | 1280 | { |
| 1590 | killagreg | 1281 | #define HOVER_GAS_AVERAGE 4096L // 4096 * 2ms = 8.2s averaging |
| 1332 | hbuss | 1282 | #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| 1638 | holgerb | 1283 | |
| 1284 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 1285 | #define OPA_OFFSET_STEP 15 |
||
| 1642 | killagreg | 1286 | #else |
| 1638 | holgerb | 1287 | #define OPA_OFFSET_STEP 10 |
| 1288 | #endif |
||
| 1587 | killagreg | 1289 | int HCGas, HeightDeviation = 0; |
| 1309 | hbuss | 1290 | static int HeightTrimming = 0; // rate for change of height setpoint |
| 1291 | static int FilterHCGas = 0; |
||
| 1587 | killagreg | 1292 | static int StickGasHover = 120, HoverGas = 0, HoverGasMin = 0, HoverGasMax = 1023; |
| 1293 | static unsigned long HoverGasFilter = 0; |
||
| 1322 | hbuss | 1294 | static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| 1320 | hbuss | 1295 | int CosAttitude; // for projection of hoover gas |
| 1330 | killagreg | 1296 | |
| 1309 | hbuss | 1297 | // get the current hooverpoint |
| 1587 | killagreg | 1298 | DebugOut.Analog[21] = HoverGas; |
| 1642 | killagreg | 1299 | |
| 1322 | hbuss | 1300 | // Expand the measurement |
| 1301 | // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
||
| 1302 | if(!BaroExpandActive) |
||
| 1303 | { |
||
| 1304 | if(MessLuftdruck > 920) |
||
| 1305 | { // increase offset |
||
| 1330 | killagreg | 1306 | if(OCR0A < (255 - OPA_OFFSET_STEP)) |
| 1322 | hbuss | 1307 | { |
| 1308 | ExpandBaro -= 1; |
||
| 1309 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
||
| 1310 | beeptime = 300; |
||
| 1352 | hbuss | 1311 | BaroExpandActive = 350; |
| 1330 | killagreg | 1312 | } |
| 1313 | else |
||
| 1322 | hbuss | 1314 | { |
| 1315 | BaroAtLowerLimit = 1; |
||
| 1316 | } |
||
| 1317 | } |
||
| 1318 | // measurement of air pressure close to lower limit and |
||
| 1330 | killagreg | 1319 | else |
| 1322 | hbuss | 1320 | if(MessLuftdruck < 100) |
| 1321 | { // decrease offset |
||
| 1330 | killagreg | 1322 | if(OCR0A > OPA_OFFSET_STEP) |
| 1322 | hbuss | 1323 | { |
| 1324 | ExpandBaro += 1; |
||
| 1325 | OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
||
| 1326 | beeptime = 300; |
||
| 1352 | hbuss | 1327 | BaroExpandActive = 350; |
| 1330 | killagreg | 1328 | } |
| 1329 | else |
||
| 1322 | hbuss | 1330 | { |
| 1331 | BaroAtUpperLimit = 1; |
||
| 1332 | } |
||
| 1333 | } |
||
| 1330 | killagreg | 1334 | else |
| 1322 | hbuss | 1335 | { |
| 1336 | BaroAtUpperLimit = 0; |
||
| 1337 | BaroAtLowerLimit = 0; |
||
| 1338 | } |
||
| 1339 | } |
||
| 1340 | else // delay, because of expanding the Baro-Range |
||
| 1341 | { |
||
| 1342 | // now clear the D-values |
||
| 1343 | SummenHoehe = HoehenWert * SM_FILTER; |
||
| 1344 | VarioMeter = 0; |
||
| 1345 | BaroExpandActive--; |
||
| 1346 | } |
||
| 1328 | hbuss | 1347 | |
| 1348 | // if height control is activated by an rc channel |
||
| 1349 | if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
||
| 1350 | { // check if parameter is less than activation threshold |
||
| 1351 | if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
||
| 1352 | { //height control not active |
||
| 1353 | if(!delay--) |
||
| 1354 | { |
||
| 1355 | HoehenReglerAktiv = 0; // disable height control |
||
| 1356 | SollHoehe = HoehenWert; // update SetPoint with current reading |
||
| 1357 | delay = 1; |
||
| 1358 | } |
||
| 1359 | } |
||
| 1360 | else |
||
| 1361 | { //height control is activated |
||
| 1362 | HoehenReglerAktiv = 1; // enable height control |
||
| 1334 | killagreg | 1363 | delay = 200; |
| 1328 | hbuss | 1364 | } |
| 1051 | killagreg | 1365 | } |
| 1309 | hbuss | 1366 | else // no switchable height control |
| 1367 | { |
||
| 1368 | SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
||
| 1369 | HoehenReglerAktiv = 1; |
||
| 1051 | killagreg | 1370 | } |
| 1322 | hbuss | 1371 | |
| 1320 | hbuss | 1372 | // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
| 1330 | killagreg | 1373 | tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| 1374 | tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
||
| 1375 | CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
||
| 1320 | hbuss | 1376 | LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
| 1377 | CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
||
| 1591 | holgerb | 1378 | VarioCharacter = ' '; |
| 1420 | killagreg | 1379 | if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
| 1309 | hbuss | 1380 | { |
| 1381 | #define HEIGHT_TRIM_UP 0x01 |
||
| 1382 | #define HEIGHT_TRIM_DOWN 0x02 |
||
| 1383 | static unsigned char HeightTrimmingFlag = 0x00; |
||
| 1384 | |||
| 1330 | killagreg | 1385 | #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
| 1309 | hbuss | 1386 | // Holger original version |
| 1387 | // start of height control algorithm |
||
| 1388 | // the height control is only an attenuation of the actual gas stick. |
||
| 1389 | // I.e. it will work only if the gas stick is higher than the hover gas |
||
| 1390 | // and the hover height will be allways larger than height setpoint. |
||
| 1314 | killagreg | 1391 | if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| 1392 | { // old version |
||
| 1309 | hbuss | 1393 | HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| 1394 | HeightTrimming = 0; |
||
| 1395 | } |
||
| 1314 | killagreg | 1396 | else |
| 1309 | hbuss | 1397 | { |
| 1398 | // alternative height control |
||
| 1399 | // PD-Control with respect to hoover point |
||
| 1400 | // the thrust loss out of horizontal attitude is compensated |
||
| 1401 | // the setpoint will be fine adjusted with the gas stick position |
||
| 1420 | killagreg | 1402 | if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
| 1309 | hbuss | 1403 | { // gas stick is above hoover point |
| 1587 | killagreg | 1404 | if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| 1309 | hbuss | 1405 | { |
| 1406 | if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
||
| 1407 | { |
||
| 1408 | HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
||
| 1409 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
| 1410 | } |
||
| 1411 | HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
||
| 1587 | killagreg | 1412 | HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1591 | holgerb | 1413 | VarioCharacter = '+'; |
| 1309 | hbuss | 1414 | } // gas stick is below hoover point |
| 1587 | killagreg | 1415 | else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| 1309 | hbuss | 1416 | { |
| 1417 | if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
||
| 1418 | { |
||
| 1419 | HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
||
| 1420 | SollHoehe = HoehenWert; // update setpoint to current heigth |
||
| 1421 | } |
||
| 1422 | HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
||
| 1587 | killagreg | 1423 | HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| 1591 | holgerb | 1424 | VarioCharacter = '-'; |
| 1309 | hbuss | 1425 | } |
| 1587 | killagreg | 1426 | else // Gas Stick in Hover Range |
| 1309 | hbuss | 1427 | { |
| 1352 | hbuss | 1428 | if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
| 1309 | hbuss | 1429 | { |
| 1352 | hbuss | 1430 | HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
| 1309 | hbuss | 1431 | HeightTrimming = 0; |
| 1432 | SollHoehe = HoehenWert; // update setpoint to current height |
||
| 1433 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
||
| 1434 | } |
||
| 1591 | holgerb | 1435 | VarioCharacter = '='; |
| 1309 | hbuss | 1436 | } |
| 1437 | // Trim height set point |
||
| 1334 | killagreg | 1438 | if(abs(HeightTrimming) > 512) |
| 1309 | hbuss | 1439 | { |
| 1332 | hbuss | 1440 | SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
| 1309 | hbuss | 1441 | HeightTrimming = 0; |
| 1587 | killagreg | 1442 | LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| 1309 | hbuss | 1443 | if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75; |
| 1320 | hbuss | 1444 | //update hoover gas stick value when setpoint is shifted |
| 1332 | hbuss | 1445 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1446 | { |
||
| 1587 | killagreg | 1447 | StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
| 1448 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1449 | if(StickGasHover < 70) StickGasHover = 70; |
||
| 1450 | else if(StickGasHover > 150) StickGasHover = 150; |
||
| 1332 | hbuss | 1451 | } |
| 1309 | hbuss | 1452 | } |
| 1352 | hbuss | 1453 | if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
| 1420 | killagreg | 1454 | } //if FCFlags & MKFCFLAG_FLY |
| 1330 | killagreg | 1455 | else |
| 1456 | { |
||
| 1322 | hbuss | 1457 | SollHoehe = HoehenWert - 400; |
| 1587 | killagreg | 1458 | if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1459 | else StickGasHover = 120; |
||
| 1320 | hbuss | 1460 | } |
| 1590 | killagreg | 1461 | HCGas = HoverGas; // take hover gas (neutral point) |
| 1462 | } |
||
| 1314 | killagreg | 1463 | if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| 1283 | hbuss | 1464 | { |
| 1590 | killagreg | 1465 | // from this point the Heigth Control Algorithm is identical for both versions |
| 1466 | if(BaroExpandActive) // baro range expanding active |
||
| 1467 | { |
||
| 1468 | HCGas = HoverGas; // hover while expanding baro adc range |
||
| 1469 | HeightDeviation = 0; |
||
| 1470 | } // EOF // baro range expanding active |
||
| 1471 | else // valid data from air pressure sensor |
||
| 1472 | { |
||
| 1473 | // ------------------------- P-Part ---------------------------- |
||
| 1474 | tmp_long = (HoehenWert - SollHoehe); // positive when too high |
||
| 1475 | LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
||
| 1476 | HeightDeviation = (int)(tmp_long); // positive when too high |
||
| 1477 | tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 16L; // p-part |
||
| 1478 | LIMIT_MIN_MAX(tmp_long, -255 * STICK_GAIN, 255 * STICK_GAIN); // more than 2 times the full range makes no sense |
||
| 1479 | HCGas -= tmp_long; |
||
| 1480 | // ------------------------- D-Part 1: Vario Meter ---------------------------- |
||
| 1481 | tmp_int = VarioMeter / 8; |
||
| 1482 | LIMIT_MIN_MAX(tmp_int, -181, 181); // avoid overflow when squared (181^2 = 32761) |
||
| 1483 | tmp_int2 = tmp_int; |
||
| 1484 | LIMIT_MAX(tmp_int2, 8); // limit quadratic part on upward movement to avoid to much gas reduction |
||
| 1485 | if(tmp_int2 > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2) / 4; |
||
| 1486 | else tmp_int = tmp_int - (tmp_int2 * tmp_int2) / 4; |
||
| 1487 | tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 128L; // scale to d-gain parameter |
||
| 1488 | LIMIT_MIN_MAX(tmp_int,-32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1489 | HCGas -= tmp_int; |
||
| 1490 | } // EOF no baro range expanding |
||
| 1309 | hbuss | 1491 | // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| 1587 | killagreg | 1492 | tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
| 1493 | LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1494 | HCGas -= tmp_long; |
||
| 1495 | // ------------------------ D-Part 3: GpsZ ---------------------------------- |
||
| 1588 | killagreg | 1496 | tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
| 1497 | LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
||
| 1309 | hbuss | 1498 | HCGas -= tmp_int; |
| 1587 | killagreg | 1499 | |
| 1309 | hbuss | 1500 | // limit deviation from hoover point within the target region |
| 1587 | killagreg | 1501 | if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HoverGas > 0)) // height setpoint is not changed and hoover gas not zero |
| 1309 | hbuss | 1502 | { |
| 1587 | killagreg | 1503 | LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
| 1309 | hbuss | 1504 | } |
| 1276 | hbuss | 1505 | |
| 1322 | hbuss | 1506 | // strech control output by inverse attitude projection 1/cos |
| 1507 | // + 1/cos(angle) ++++++++++++++++++++++++++ |
||
| 1330 | killagreg | 1508 | tmp_long2 = (int32_t)HCGas; |
| 1509 | tmp_long2 *= 8192L; |
||
| 1510 | tmp_long2 /= CosAttitude; |
||
| 1511 | HCGas = (int16_t)tmp_long2; |
||
| 1309 | hbuss | 1512 | // update height control gas averaging |
| 1513 | FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
||
| 1514 | // limit height control gas pd-control output |
||
| 1515 | LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
||
| 1516 | // set GasMischanteil to HeightControlGasFilter |
||
| 1314 | killagreg | 1517 | if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
| 1587 | killagreg | 1518 | { // old version |
| 1519 | LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
||
| 1520 | } |
||
| 1309 | hbuss | 1521 | GasMischanteil = FilterHCGas; |
| 1314 | killagreg | 1522 | } |
| 1309 | hbuss | 1523 | }// EOF height control active |
| 1320 | hbuss | 1524 | else // HC not active |
| 1525 | { |
||
| 1526 | //update hoover gas stick value when HC is not active |
||
| 1587 | killagreg | 1527 | if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| 1528 | { |
||
| 1529 | StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
||
| 1530 | StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
||
| 1322 | hbuss | 1531 | } |
| 1587 | killagreg | 1532 | else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| 1533 | LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
||
| 1328 | hbuss | 1534 | FilterHCGas = GasMischanteil; |
| 1330 | killagreg | 1535 | } |
| 1283 | hbuss | 1536 | |
| 1587 | killagreg | 1537 | // Hover gas estimation by averaging gas control output on small z-velocities |
| 1309 | hbuss | 1538 | // this is done only if height contol option is selected in global config and aircraft is flying |
| 1420 | killagreg | 1539 | if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG)) |
| 1309 | hbuss | 1540 | { |
| 1590 | killagreg | 1541 | if(HoverGasFilter == 0) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| 1309 | hbuss | 1542 | if(abs(VarioMeter) < 100) // only on small vertical speed |
| 1543 | { |
||
| 1330 | killagreg | 1544 | tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| 1545 | tmp_long2 *= CosAttitude; // apply attitude projection |
||
| 1546 | tmp_long2 /= 8192; |
||
| 1547 | |||
| 1309 | hbuss | 1548 | // average vertical projected thrust |
| 1549 | if(modell_fliegt < 2000) // the first 4 seconds |
||
| 1550 | { // reduce the time constant of averaging by factor of 8 to get much faster a stable value |
||
| 1590 | killagreg | 1551 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/8L); |
| 1587 | killagreg | 1552 | HoverGasFilter += 8L * tmp_long2; |
| 1309 | hbuss | 1553 | } |
| 1554 | else if(modell_fliegt < 4000) // the first 8 seconds |
||
| 1555 | { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
||
| 1590 | killagreg | 1556 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
| 1587 | killagreg | 1557 | HoverGasFilter += 4L * tmp_long2; |
| 1309 | hbuss | 1558 | } |
| 1559 | else if(modell_fliegt < 8000) // the first 16 seconds |
||
| 1560 | { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
||
| 1590 | killagreg | 1561 | HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/2L); |
| 1587 | killagreg | 1562 | HoverGasFilter += 2L * tmp_long2; |
| 1309 | hbuss | 1563 | } |
| 1564 | else //later |
||
| 1565 | { |
||
| 1590 | killagreg | 1566 | HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
| 1587 | killagreg | 1567 | HoverGasFilter += tmp_long2; |
| 1309 | hbuss | 1568 | } |
| 1590 | killagreg | 1569 | HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
| 1309 | hbuss | 1570 | if(EE_Parameter.Hoehe_HoverBand) |
| 1571 | { |
||
| 1572 | int16_t band; |
||
| 1587 | killagreg | 1573 | band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| 1574 | HoverGasMin = HoverGas - band; |
||
| 1575 | HoverGasMax = HoverGas + band; |
||
| 1309 | hbuss | 1576 | } |
| 1577 | else |
||
| 1578 | { // no limit |
||
| 1587 | killagreg | 1579 | HoverGasMin = 0; |
| 1580 | HoverGasMax = 1023; |
||
| 1309 | hbuss | 1581 | } |
| 1582 | } |
||
| 1583 | } |
||
| 1584 | }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
||
| 1585 | |||
| 1586 | // limit gas to parameter setting |
||
| 1320 | hbuss | 1587 | LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| 855 | hbuss | 1588 | if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| 1111 | hbuss | 1589 | |
| 1051 | killagreg | 1590 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1320 | hbuss | 1591 | // all BL-Ctrl connected? |
| 1592 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1330 | killagreg | 1593 | if(MissingMotor) |
| 1320 | hbuss | 1594 | if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| 1595 | { |
||
| 1596 | modell_fliegt = 1; |
||
| 1597 | GasMischanteil = MIN_GAS; |
||
| 1598 | } |
||
| 1599 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1 | ingob | 1600 | // + Mischer und PI-Regler |
| 1051 | killagreg | 1601 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 173 | holgerb | 1602 | DebugOut.Analog[7] = GasMischanteil; |
| 1051 | killagreg | 1603 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1604 | // Gier-Anteil |
| 1051 | killagreg | 1605 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 855 | hbuss | 1606 | GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| 1607 | #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
||
| 693 | hbuss | 1608 | if(GasMischanteil > MIN_GIERGAS) |
| 1609 | { |
||
| 1051 | killagreg | 1610 | if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| 1611 | if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
||
| 693 | hbuss | 1612 | } |
| 1051 | killagreg | 1613 | else |
| 693 | hbuss | 1614 | { |
| 1051 | killagreg | 1615 | if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| 1616 | if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
||
| 693 | hbuss | 1617 | } |
| 855 | hbuss | 1618 | tmp_int = MAX_GAS*STICK_GAIN; |
| 1051 | killagreg | 1619 | if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| 855 | hbuss | 1620 | if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| 513 | hbuss | 1621 | |
| 1051 | killagreg | 1622 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1 | ingob | 1623 | // Nick-Achse |
| 1051 | killagreg | 1624 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 723 | hbuss | 1625 | DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| 1153 | hbuss | 1626 | if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| 1051 | killagreg | 1627 | else SummeNick += DiffNick; // I-Anteil bei HH |
| 855 | hbuss | 1628 | if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| 1629 | if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
||
| 1153 | hbuss | 1630 | pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick |
| 1 | ingob | 1631 | // Motor Vorn |
| 1652 | holgerb | 1632 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / (64/2); |
| 1153 | hbuss | 1633 | if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| 1634 | if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
||
| 173 | holgerb | 1635 | |
| 1153 | hbuss | 1636 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1637 | // Roll-Achse |
||
| 1638 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 1639 | DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
||
| 1640 | if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
||
| 1641 | else SummeRoll += DiffRoll; // I-Anteil bei HH |
||
| 1642 | if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
||
| 1643 | if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
||
| 1644 | pd_ergebnis_roll = DiffRoll + SummeRoll / Ki; // PI-Regler für Roll |
||
| 1652 | holgerb | 1645 | tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / (64/2); |
| 1153 | hbuss | 1646 | if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
| 1647 | if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
||
| 1648 | |||
| 1649 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 1209 | hbuss | 1650 | // Universal Mixer |
| 1155 | hbuss | 1651 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1642 | killagreg | 1652 | for(i=0; i<MAX_MOTORS; i++) |
| 1653 | { |
||
| 1654 | signed int tmp_int; |
||
| 1655 | if(Mixer.Motor[i][0] > 0) |
||
| 1656 | { |
||
| 1652 | holgerb | 1657 | // Gas |
| 1654 | killagreg | 1658 | if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil * 2; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 32L; |
| 1652 | holgerb | 1659 | // Nick |
| 1660 | if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
||
| 1661 | else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
||
| 1662 | else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
||
| 1663 | // Roll |
||
| 1664 | if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
||
| 1665 | else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
||
| 1666 | else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
||
| 1667 | // Gier |
||
| 1668 | if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil * 2; |
||
| 1669 | else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil * 2; |
||
| 1670 | else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 32L; |
||
| 1653 | holgerb | 1671 | /* |
| 1672 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
||
| 1673 | else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
||
| 1652 | holgerb | 1674 | |
| 1653 | holgerb | 1675 | if(Poti2 > 50) |
| 1676 | { |
||
| 1652 | holgerb | 1677 | if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
| 1653 | holgerb | 1678 | else if(Poti2 > 150) tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
| 1679 | } |
||
| 1680 | */ |
||
| 1652 | holgerb | 1681 | LIMIT_MIN_MAX(tmp_int,MIN_GAS * 8,MAX_GAS * 8); |
| 1682 | Motor[i].SetPoint = tmp_int / 8; |
||
| 1683 | Motor[i].SetPointLowerBits = tmp_int % 8; |
||
| 1684 | tmp_motorwert[i] = tmp_int; |
||
| 1642 | killagreg | 1685 | } |
| 1686 | else |
||
| 1687 | { |
||
| 1688 | Motor[i].SetPoint = 0; |
||
| 1689 | Motor[i].SetPointLowerBits = 0; |
||
| 1690 | } |
||
| 1691 | } |
||
| 1111 | hbuss | 1692 | } |