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1 ingob 1
/*#######################################################################################
2
Flight Control
3
#######################################################################################*/
4
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 5
// + Copyright (c) Holger Buss, Ingo Busker
6
// + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
1 ingob 7
// + www.MikroKopter.com
8
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 9
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
10
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
11
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
12
// + bzgl. der Nutzungsbedingungen aufzunehmen.
1 ingob 13
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
14
// + Verkauf von Luftbildaufnahmen, usw.
15
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 16
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
1 ingob 17
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
18
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
19
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
20
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
21
// + eindeutig als Ursprung verlinkt werden
22
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
23
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
24
// + Benutzung auf eigene Gefahr
25
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
26
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 27
// + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
1 ingob 28
// + mit unserer Zustimmung zulässig
29
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
30
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
31
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1051 killagreg 32
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
1 ingob 33
// + this list of conditions and the following disclaimer.
34
// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
35
// +     from this software without specific prior written permission.
1051 killagreg 36
// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
1 ingob 37
// +     for non-commercial use (directly or indirectly)
1051 killagreg 38
// +     Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
1 ingob 39
// +     with our written permission
1051 killagreg 40
// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
41
// +     clearly linked as origin
1338 ingob 42
// +   * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
1 ingob 43
// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
44
// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
45
// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
46
// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
47
// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
48
// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
1322 hbuss 50
// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
51
// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
1 ingob 52
// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
1051 killagreg 53
// +  POSSIBILITY OF SUCH DAMAGE.
1 ingob 54
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
55
 
56
#include "main.h"
395 hbuss 57
#include "eeprom.c"
1320 hbuss 58
#include "mymath.h"
1330 killagreg 59
#include "isqrt.h"
1 ingob 60
 
1352 hbuss 61
unsigned char h,m,s;
62
unsigned int BaroExpandActive = 0;
173 holgerb 63
volatile unsigned int I2CTimeout = 100;
1153 hbuss 64
int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll;
1166 hbuss 65
int TrimNick, TrimRoll;
1051 killagreg 66
int AdNeutralGierBias;
927 hbuss 67
int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0;
68
int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0;
805 hbuss 69
int NaviAccNick, NaviAccRoll,NaviCntAcc = 0;
1 ingob 70
volatile float NeutralAccZ = 0;
71
unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0;
693 hbuss 72
long IntegralNick = 0,IntegralNick2 = 0;
73
long IntegralRoll = 0,IntegralRoll2 = 0;
74
long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0;
75
long Integral_Gier = 0;
76
long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0;
77
long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0;
78
long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0;
79
long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2;
1 ingob 80
volatile long Mess_Integral_Hoch = 0;
1153 hbuss 81
int  KompassValue = 0;
82
int  KompassStartwert = 0;
83
int  KompassRichtung = 0;
693 hbuss 84
unsigned int  KompassSignalSchlecht = 500;
855 hbuss 85
unsigned char  MAX_GAS,MIN_GAS;
1 ingob 86
unsigned char HoehenReglerAktiv = 0;
880 hbuss 87
unsigned char TrichterFlug = 0;
395 hbuss 88
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
693 hbuss 89
long  ErsatzKompass;
90
int   ErsatzKompassInGrad; // Kompasswert in Grad
91
int   GierGyroFehler = 0;
1211 hbuss 92
char GyroFaktor,GyroFaktorGier;
93
char IntegralFaktor,IntegralFaktorGier;
1153 hbuss 94
int  DiffNick,DiffRoll;
1377 hbuss 95
//int  Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0;
1391 killagreg 96
unsigned char Poti[9] = {0,0,0,0,0,0,0,0};
1 ingob 97
volatile unsigned char SenderOkay = 0;
1243 killagreg 98
volatile unsigned char SenderRSSI = 0;
595 hbuss 99
int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0;
1 ingob 100
char MotorenEin = 0;
1246 killagreg 101
long HoehenWert = 0;
102
long SollHoehe = 0;
498 hbuss 103
int LageKorrekturRoll = 0,LageKorrekturNick = 0;
1153 hbuss 104
//float Ki =  FAKTOR_I;
105
int Ki = 10300 / 33;
395 hbuss 106
unsigned char Looping_Nick = 0,Looping_Roll = 0;
107
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0;
1 ingob 108
 
109
unsigned char Parameter_Luftdruck_D  = 48;      // Wert : 0-250
110
unsigned char Parameter_MaxHoehe     = 251;      // Wert : 0-250
111
unsigned char Parameter_Hoehe_P      = 16;      // Wert : 0-32
112
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250
113
unsigned char Parameter_KompassWirkung = 64;    // Wert : 0-250
1283 hbuss 114
unsigned char Parameter_Hoehe_GPS_Z = 64;        // Wert : 0-250
1111 hbuss 115
unsigned char Parameter_Gyro_D = 8;             // Wert : 0-250
173 holgerb 116
unsigned char Parameter_Gyro_P = 150;           // Wert : 10-250
1 ingob 117
unsigned char Parameter_Gyro_I = 150;           // Wert : 0-250
1322 hbuss 118
unsigned char Parameter_Gyro_Gier_P = 150;      // Wert : 10-250
119
unsigned char Parameter_Gyro_Gier_I = 150;      // Wert : 10-250
1 ingob 120
unsigned char Parameter_Gier_P = 2;             // Wert : 1-20
121
unsigned char Parameter_I_Faktor = 10;          // Wert : 1-20
122
unsigned char Parameter_UserParam1 = 0;
123
unsigned char Parameter_UserParam2 = 0;
124
unsigned char Parameter_UserParam3 = 0;
125
unsigned char Parameter_UserParam4 = 0;
499 hbuss 126
unsigned char Parameter_UserParam5 = 0;
127
unsigned char Parameter_UserParam6 = 0;
128
unsigned char Parameter_UserParam7 = 0;
129
unsigned char Parameter_UserParam8 = 0;
1 ingob 130
unsigned char Parameter_ServoNickControl = 100;
1232 hbuss 131
unsigned char Parameter_ServoRollControl = 100;
173 holgerb 132
unsigned char Parameter_LoopGasLimit = 70;
1120 hbuss 133
unsigned char Parameter_AchsKopplung1 = 90;
134
unsigned char Parameter_AchsKopplung2 = 65;
135
unsigned char Parameter_CouplingYawCorrection = 64;
136
//unsigned char Parameter_AchsGegenKopplung1 = 0;
499 hbuss 137
unsigned char Parameter_DynamicStability = 100;
921 hbuss 138
unsigned char Parameter_J16Bitmask;             // for the J16 Output
139
unsigned char Parameter_J16Timing;              // for the J16 Output
140
unsigned char Parameter_J17Bitmask;             // for the J17 Output
141
unsigned char Parameter_J17Timing;              // for the J17 Output
142
unsigned char Parameter_NaviGpsModeControl;     // Parameters for the Naviboard
1051 killagreg 143
unsigned char Parameter_NaviGpsGain;
144
unsigned char Parameter_NaviGpsP;
145
unsigned char Parameter_NaviGpsI;
146
unsigned char Parameter_NaviGpsD;
147
unsigned char Parameter_NaviGpsACC;
993 hbuss 148
unsigned char Parameter_NaviOperatingRadius;
149
unsigned char Parameter_NaviWindCorrection;
150
unsigned char Parameter_NaviSpeedCompensation;
921 hbuss 151
unsigned char Parameter_ExternalControl;
1403 hbuss 152
unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5;
1 ingob 153
struct mk_param_struct EE_Parameter;
492 hbuss 154
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20;
614 hbuss 155
int MaxStickNick = 0,MaxStickRoll = 0;
871 hbuss 156
unsigned int  modell_fliegt = 0;
1420 killagreg 157
volatile unsigned char FCFlags = 0;
1121 hbuss 158
long GIER_GRAD_FAKTOR = 1291;
1153 hbuss 159
signed int KopplungsteilNickRoll,KopplungsteilRollNick;
1209 hbuss 160
signed int tmp_motorwert[MAX_MOTORS];
1328 hbuss 161
unsigned char LoadHandler = 0;
1391 killagreg 162
#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
163
#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
164
#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
1155 hbuss 165
 
1166 hbuss 166
int MotorSmoothing(int neu, int alt)
167
{
168
 int motor;
169
 if(neu > alt) motor = (1*(int)alt + neu) / 2;
170
 else   motor = neu - (alt - neu)*1;
171
//if(Poti2 < 20)  return(neu);
172
 return(motor);
173
}
174
 
1232 hbuss 175
void Piep(unsigned char Anzahl, unsigned int dauer)
1 ingob 176
{
1232 hbuss 177
 if(MotorenEin) return; //auf keinen Fall im Flug!
1 ingob 178
 while(Anzahl--)
179
 {
1232 hbuss 180
  beeptime = dauer;
181
  while(beeptime);
182
  Delay_ms(dauer * 2);
1 ingob 183
 }
184
}
185
 
186
//############################################################################
187
//  Nullwerte ermitteln
188
void SetNeutral(void)
189
//############################################################################
190
{
1111 hbuss 191
 unsigned char i;
192
 unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0;
1320 hbuss 193
    HEF4017R_ON;
1051 killagreg 194
        NeutralAccX = 0;
1 ingob 195
        NeutralAccY = 0;
196
        NeutralAccZ = 0;
1051 killagreg 197
    AdNeutralNick = 0;
198
        AdNeutralRoll = 0;
1 ingob 199
        AdNeutralGier = 0;
927 hbuss 200
    AdNeutralGierBias = 0;
395 hbuss 201
    Parameter_AchsKopplung1 = 0;
1120 hbuss 202
    Parameter_AchsKopplung2 = 0;
1036 hbuss 203
    ExpandBaro = 0;
1051 killagreg 204
    CalibrierMittelwert();
395 hbuss 205
    Delay_ms_Mess(100);
1 ingob 206
        CalibrierMittelwert();
207
    if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
1051 killagreg 208
     {
1 ingob 209
      if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
210
     }
1166 hbuss 211
#define NEUTRAL_FILTER 32
212
    for(i=0; i<NEUTRAL_FILTER; i++)
1111 hbuss 213
         {
214
          Delay_ms_Mess(10);
1216 killagreg 215
          gier_neutral += AdWertGier;
1166 hbuss 216
          nick_neutral += AdWertNick;
217
          roll_neutral += AdWertRoll;
1111 hbuss 218
         }
1173 hbuss 219
     AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
220
         AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
221
         AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
1111 hbuss 222
     AdNeutralGierBias = AdNeutralGier;
401 hbuss 223
     StartNeutralRoll = AdNeutralRoll;
224
     StartNeutralNick = AdNeutralNick;
1051 killagreg 225
    if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
513 hbuss 226
    {
1171 hbuss 227
      NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
228
          NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
513 hbuss 229
          NeutralAccZ = Aktuell_az;
230
    }
1051 killagreg 231
    else
513 hbuss 232
    {
233
      NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]);
234
          NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]);
235
          NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]);
236
    }
1051 killagreg 237
 
1 ingob 238
    MesswertNick = 0;
239
    MesswertRoll = 0;
240
    MesswertGier = 0;
1111 hbuss 241
    Delay_ms_Mess(100);
1174 hbuss 242
    Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
243
    Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
1173 hbuss 244
    IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
245
    IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
246
    Mess_IntegralNick2 = IntegralNick;
247
    Mess_IntegralRoll2 = IntegralRoll;
248
    Mess_Integral_Gier = 0;
1 ingob 249
    StartLuftdruck = Luftdruck;
1253 killagreg 250
    VarioMeter = 0;
1 ingob 251
    Mess_Integral_Hoch = 0;
252
    KompassStartwert = KompassValue;
253
    GPS_Neutral();
1051 killagreg 254
    beeptime = 50;
882 hbuss 255
        Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L;
256
        Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L;
492 hbuss 257
    ExternHoehenValue = 0;
693 hbuss 258
    ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
259
    GierGyroFehler = 0;
723 hbuss 260
    SendVersionToNavi = 1;
921 hbuss 261
    LED_Init();
1420 killagreg 262
    FCFlags |= FCFLAG_CALIBRATE;
992 hbuss 263
    FromNaviCtrl_Value.Kalman_K = -1;
1173 hbuss 264
    FromNaviCtrl_Value.Kalman_MaxDrift = 0;
992 hbuss 265
    FromNaviCtrl_Value.Kalman_MaxFusion = 32;
1391 killagreg 266
 
267
   for(i=0;i<8;i++)
1377 hbuss 268
    {
269
     Poti[i] =  PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
270
        }
1171 hbuss 271
    SenderOkay = 100;
1320 hbuss 272
    if(ServoActive)
273
         {
274
                HEF4017R_ON;
275
                DDRD  |=0x80; // enable J7 -> Servo signal
276
     }
1 ingob 277
}
278
 
279
//############################################################################
395 hbuss 280
// Bearbeitet die Messwerte
1 ingob 281
void Mittelwert(void)
282
//############################################################################
1051 killagreg 283
{
1111 hbuss 284
    static signed long tmpl,tmpl2,tmpl3,tmpl4;
285
        static signed int oldNick, oldRoll, d2Roll, d2Nick;
1153 hbuss 286
        signed long winkel_nick, winkel_roll;
1377 hbuss 287
    unsigned char i;
1111 hbuss 288
        MesswertGier = (signed int) AdNeutralGier - AdWertGier;
289
//    MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier;
1171 hbuss 290
    MesswertNick = (signed int) AdWertNickFilter / 8;
291
    MesswertRoll = (signed int) AdWertRollFilter / 8;
1153 hbuss 292
    RohMesswertNick = MesswertNick;
293
    RohMesswertRoll = MesswertRoll;
1166 hbuss 294
 
395 hbuss 295
// Beschleunigungssensor  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 296
        Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L;
297
        Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L;
298
        Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 4L;
395 hbuss 299
    IntegralAccNick += ACC_AMPLIFY * AdWertAccNick;
300
    IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll;
805 hbuss 301
    NaviAccNick    += AdWertAccNick;
302
    NaviAccRoll    += AdWertAccRoll;
303
    NaviCntAcc++;
1153 hbuss 304
    IntegralAccZ  += Aktuell_az - NeutralAccZ;
305
 
1155 hbuss 306
//++++++++++++++++++++++++++++++++++++++++++++++++
307
// ADC einschalten
1171 hbuss 308
    ANALOG_ON;
1155 hbuss 309
        AdReady = 0;
310
//++++++++++++++++++++++++++++++++++++++++++++++++
311
 
1216 killagreg 312
    if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L;
313
        else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L;
1153 hbuss 314
        else winkel_roll = Mess_IntegralRoll;
315
 
1216 killagreg 316
    if(Mess_IntegralNick > 93000L) winkel_nick = 93000L;
317
        else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L;
1153 hbuss 318
        else winkel_nick = Mess_IntegralNick;
319
 
1120 hbuss 320
// Gier  ++++++++++++++++++++++++++++++++++++++++++++++++
1153 hbuss 321
   Mess_Integral_Gier += MesswertGier;
322
   ErsatzKompass += MesswertGier;
395 hbuss 323
// Kopplungsanteil  +++++++++++++++++++++++++++++++++++++
324
      if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV))
325
         {
1153 hbuss 326
            tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
1120 hbuss 327
            tmpl3 *= Parameter_AchsKopplung2; //65
1111 hbuss 328
            tmpl3 /= 4096L;
1153 hbuss 329
            tmpl4 = (MesswertNick * winkel_roll) / 2048L;
1216 killagreg 330
            tmpl4 *= Parameter_AchsKopplung2; //65
1111 hbuss 331
            tmpl4 /= 4096L;
1153 hbuss 332
            KopplungsteilNickRoll = tmpl3;
333
            KopplungsteilRollNick = tmpl4;
1111 hbuss 334
            tmpl4 -= tmpl3;
335
            ErsatzKompass += tmpl4;
1166 hbuss 336
            if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen
1111 hbuss 337
 
1153 hbuss 338
            tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L;
1111 hbuss 339
            tmpl *= Parameter_AchsKopplung1;  // 90
880 hbuss 340
            tmpl /= 4096L;
1153 hbuss 341
            tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L;
395 hbuss 342
            tmpl2 *= Parameter_AchsKopplung1;
880 hbuss 343
            tmpl2 /= 4096L;
1225 hbuss 344
            if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1;
1153 hbuss 345
            //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
395 hbuss 346
         }
1166 hbuss 347
      else  tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
1111 hbuss 348
 
1166 hbuss 349
TrimRoll = tmpl - tmpl2 / 100L;
350
TrimNick = -tmpl2 + tmpl / 100L;
351
 
1111 hbuss 352
// Kompasswert begrenzen  ++++++++++++++++++++++++++++++++++++++++++++++++
353
                    if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR;  // 360° Umschlag
354
                    if(ErsatzKompass < 0)                          ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
395 hbuss 355
// Roll  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 356
            Mess_IntegralRoll2 += MesswertRoll + TrimRoll;
357
            Mess_IntegralRoll +=  MesswertRoll + TrimRoll - LageKorrekturRoll;
1051 killagreg 358
            if(Mess_IntegralRoll > Umschlag180Roll)
395 hbuss 359
            {
882 hbuss 360
             Mess_IntegralRoll  = -(Umschlag180Roll - 25000L);
395 hbuss 361
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 362
            }
395 hbuss 363
            if(Mess_IntegralRoll <-Umschlag180Roll)
364
            {
882 hbuss 365
             Mess_IntegralRoll =  (Umschlag180Roll - 25000L);
395 hbuss 366
             Mess_IntegralRoll2 = Mess_IntegralRoll;
1051 killagreg 367
            }
395 hbuss 368
// Nick  ++++++++++++++++++++++++++++++++++++++++++++++++
1166 hbuss 369
            Mess_IntegralNick2 += MesswertNick + TrimNick;
370
            Mess_IntegralNick  += MesswertNick + TrimNick - LageKorrekturNick;
1051 killagreg 371
            if(Mess_IntegralNick > Umschlag180Nick)
882 hbuss 372
             {
373
              Mess_IntegralNick = -(Umschlag180Nick - 25000L);
374
              Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 375
             }
376
            if(Mess_IntegralNick <-Umschlag180Nick)
395 hbuss 377
            {
882 hbuss 378
             Mess_IntegralNick =  (Umschlag180Nick - 25000L);
395 hbuss 379
             Mess_IntegralNick2 = Mess_IntegralNick;
1051 killagreg 380
            }
1111 hbuss 381
 
1 ingob 382
    Integral_Gier  = Mess_Integral_Gier;
383
    IntegralNick = Mess_IntegralNick;
384
    IntegralRoll = Mess_IntegralRoll;
1051 killagreg 385
    IntegralNick2 = Mess_IntegralNick2;
1 ingob 386
    IntegralRoll2 = Mess_IntegralRoll2;
387
 
1166 hbuss 388
#define D_LIMIT 128
389
 
1171 hbuss 390
   MesswertNick = HiResNick / 8;
391
   MesswertRoll = HiResRoll / 8;
1166 hbuss 392
 
1167 hbuss 393
   if(AdWertNick < 15)   MesswertNick = -1000;  if(AdWertNick <  7)   MesswertNick = -2000;
394
   if(PlatinenVersion == 10)  { if(AdWertNick > 1010) MesswertNick = +1000;  if(AdWertNick > 1017) MesswertNick = +2000; }
395
   else  {  if(AdWertNick > 2000) MesswertNick = +1000;  if(AdWertNick > 2015) MesswertNick = +2000; }
396
   if(AdWertRoll < 15)   MesswertRoll = -1000;  if(AdWertRoll <  7)   MesswertRoll = -2000;
397
   if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000;  if(AdWertRoll > 1017) MesswertRoll = +2000; }
398
   else { if(AdWertRoll > 2000) MesswertRoll = +1000;  if(AdWertRoll > 2015) MesswertRoll = +2000;  }
399
 
1216 killagreg 400
  if(Parameter_Gyro_D)
1111 hbuss 401
  {
1166 hbuss 402
   d2Nick = HiResNick - oldNick;
403
   oldNick = (oldNick + HiResNick)/2;
1111 hbuss 404
   if(d2Nick > D_LIMIT) d2Nick = D_LIMIT;
405
   else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT;
1166 hbuss 406
   MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16;
407
   d2Roll = HiResRoll - oldRoll;
408
   oldRoll = (oldRoll + HiResRoll)/2;
1111 hbuss 409
   if(d2Roll > D_LIMIT) d2Roll = D_LIMIT;
410
   else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT;
1166 hbuss 411
   MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16;
412
   HiResNick += (d2Nick * (signed int) Parameter_Gyro_D);
413
   HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D);
1216 killagreg 414
  }
1111 hbuss 415
 
1166 hbuss 416
 if(RohMesswertRoll > 0) TrimRoll  += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
417
 else                    TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
418
 if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
419
 else                    TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
1153 hbuss 420
 
421
  if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
422
  {
423
    if(RohMesswertNick > 256)       MesswertNick += 1 * (RohMesswertNick - 256);
424
    else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
425
    if(RohMesswertRoll > 256)       MesswertRoll += 1 * (RohMesswertRoll - 256);
426
    else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256);
427
  }
1377 hbuss 428
  for(i=0;i<8;i++)
429
    {
430
     int tmp;
431
         tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
432
         if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0;
1406 hbuss 433
     if(tmp != Poti[i])
434
          {
435
           Poti[i] += (tmp - Poti[i]) / 8;
1413 killagreg 436
       if(Poti[i] > tmp) Poti[i]--;
1406 hbuss 437
           else Poti[i]++;
1413 killagreg 438
          }
1377 hbuss 439
        }
1 ingob 440
}
441
 
442
//############################################################################
443
// Messwerte beim Ermitteln der Nullage
444
void CalibrierMittelwert(void)
445
//############################################################################
1051 killagreg 446
{
1377 hbuss 447
    unsigned char i;
1021 hbuss 448
    if(PlatinenVersion == 13) SucheGyroOffset();
1 ingob 449
    // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
450
        ANALOG_OFF;
395 hbuss 451
        MesswertNick = AdWertNick;
452
        MesswertRoll = AdWertRoll;
453
        MesswertGier = AdWertGier;
454
        Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick;
455
        Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
456
        Mittelwert_AccHoch = (long)AdWertAccHoch;
457
   // ADC einschalten
1051 killagreg 458
    ANALOG_ON;
1377 hbuss 459
   for(i=0;i<8;i++)
460
    {
461
     int tmp;
462
         tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110;
1391 killagreg 463
         LIMIT_MIN_MAX(tmp, 0, 255);
464
     if(Poti[i] > tmp) Poti[i]--;  else  if(Poti[i] < tmp) Poti[i]++;
1377 hbuss 465
        }
395 hbuss 466
        Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
720 ingob 467
        Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
1 ingob 468
}
469
 
470
//############################################################################
471
// Senden der Motorwerte per I2C-Bus
472
void SendMotorData(void)
473
//############################################################################
1051 killagreg 474
{
1209 hbuss 475
 unsigned char i;
921 hbuss 476
    if(!MotorenEin)
1 ingob 477
        {
1420 killagreg 478
         FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY);
1216 killagreg 479
                 for(i=0;i<MAX_MOTORS;i++)
480
                  {
481
                   if(!PC_MotortestActive)  MotorTest[i] = 0;
1479 killagreg 482
                   Motor[i].SetPoint = MotorTest[i];
1216 killagreg 483
                  }
1212 hbuss 484
          if(PC_MotortestActive) PC_MotortestActive--;
1216 killagreg 485
        }
1420 killagreg 486
        else FCFlags |= FCFLAG_MOTOR_RUN;
1111 hbuss 487
 
1479 killagreg 488
    DebugOut.Analog[12] = Motor[0].SetPoint;
489
    DebugOut.Analog[13] = Motor[1].SetPoint;
1521 killagreg 490
    DebugOut.Analog[14] = Motor[2].SetPoint;
491
    DebugOut.Analog[15] = Motor[3].SetPoint;
1 ingob 492
 
493
    //Start I2C Interrupt Mode
494
    twi_state = 0;
495
    motor = 0;
1051 killagreg 496
    i2c_start();
1 ingob 497
}
498
 
499
 
500
 
501
//############################################################################
502
// Trägt ggf. das Poti als Parameter ein
1051 killagreg 503
void ParameterZuordnung(void)
1 ingob 504
//############################################################################
505
{
1391 killagreg 506
 #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];}
507
 #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);}
508
 
921 hbuss 509
 CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
510
 CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
511
 CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
512
 CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255);
513
 CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255);
1403 hbuss 514
 CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3);
515
 CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4);
516
 CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5);
1377 hbuss 517
 CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe);
1403 hbuss 518
 CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe);
1377 hbuss 519
 CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung);
520
 CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z);
521
 CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung);
522
 CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I);
523
 CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D);
524
 CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P);
525
 CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I);
526
 CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor);
527
 CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1);
528
 CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2);
529
 CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3);
530
 CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4);
531
 CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5);
532
 CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6);
533
 CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7);
534
 CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8);
535
 CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl);
536
 CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl);
537
 CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit);
538
 CHK_POTI(Parameter_AchsKopplung1,    EE_Parameter.AchsKopplung1);
539
 CHK_POTI(Parameter_AchsKopplung2,    EE_Parameter.AchsKopplung2);
540
 CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection);
541
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
542
 CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
543
 CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
1153 hbuss 544
 Ki = 10300 / (Parameter_I_Faktor + 1);
1 ingob 545
 MAX_GAS = EE_Parameter.Gas_Max;
546
 MIN_GAS = EE_Parameter.Gas_Min;
547
}
548
 
549
//############################################################################
550
//
551
void MotorRegler(void)
552
//############################################################################
553
{
1330 killagreg 554
         int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2;
1 ingob 555
         int GierMischanteil,GasMischanteil;
556
     static long SummeNick=0,SummeRoll=0;
557
     static long sollGier = 0,tmp_long,tmp_long2;
395 hbuss 558
     static long IntegralFehlerNick = 0;
559
     static long IntegralFehlerRoll = 0;
1 ingob 560
         static unsigned int RcLostTimer;
561
         static unsigned char delay_neutral = 0;
562
         static unsigned char delay_einschalten = 0,delay_ausschalten = 0;
563
     static char TimerWerteausgabe = 0;
564
     static char NeueKompassRichtungMerken = 0;
395 hbuss 565
     static long ausgleichNick, ausgleichRoll;
1153 hbuss 566
     int IntegralNickMalFaktor,IntegralRollMalFaktor;
1209 hbuss 567
         unsigned char i;
1328 hbuss 568
    if(--LoadHandler == 0) LoadHandler = 5; // verteilt die Prozessorlast
1051 killagreg 569
        Mittelwert();
1 ingob 570
    GRN_ON;
1051 killagreg 571
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 572
// Gaswert ermitteln
1051 killagreg 573
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
574
        GasMischanteil = StickGas;
831 hbuss 575
    if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
1330 killagreg 576
 
1051 killagreg 577
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 578
// Empfang schlecht
1051 killagreg 579
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 580
   if(SenderOkay < 100)
581
        {
1051 killagreg 582
        if(RcLostTimer) RcLostTimer--;
583
        else
1 ingob 584
         {
585
          MotorenEin = 0;
1420 killagreg 586
          FCFlags &= ~FCFLAG_NOTLANDUNG;
1051 killagreg 587
         }
1 ingob 588
        ROT_ON;
693 hbuss 589
        if(modell_fliegt > 1000)  // wahrscheinlich in der Luft --> langsam absenken
1 ingob 590
            {
591
            GasMischanteil = EE_Parameter.NotGas;
1420 killagreg 592
            FCFlags |= FCFLAG_NOTLANDUNG;
744 hbuss 593
            PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
1051 killagreg 594
            PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
1 ingob 595
            PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0;
596
            PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0;
597
            PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0;
173 holgerb 598
            }
1 ingob 599
         else MotorenEin = 0;
600
        }
1051 killagreg 601
        else
602
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 603
// Emfang gut
1051 killagreg 604
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 605
        if(SenderOkay > 140)
606
            {
1420 killagreg 607
                        FCFlags &= ~FCFLAG_NOTLANDUNG;
1 ingob 608
            RcLostTimer = EE_Parameter.NotGasZeit * 50;
921 hbuss 609
            if(GasMischanteil > 40 && MotorenEin)
1 ingob 610
                {
611
                if(modell_fliegt < 0xffff) modell_fliegt++;
612
                }
871 hbuss 613
            if((modell_fliegt < 256))
1 ingob 614
                {
615
                SummeNick = 0;
616
                SummeRoll = 0;
1051 killagreg 617
                if(modell_fliegt == 250)
918 hbuss 618
                 {
1051 killagreg 619
                  NeueKompassRichtungMerken = 1;
918 hbuss 620
                  sollGier = 0;
1051 killagreg 621
                  Mess_Integral_Gier = 0;
927 hbuss 622
//                  Mess_Integral_Gier2 = 0;
1051 killagreg 623
                 }
1420 killagreg 624
                } else FCFlags |= FCFLAG_FLY;
1051 killagreg 625
 
595 hbuss 626
            if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0)
1 ingob 627
                {
1051 killagreg 628
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 629
// auf Nullwerte kalibrieren
1051 killagreg 630
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 631
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)  // Neutralwerte
632
                    {
633
                    if(++delay_neutral > 200)  // nicht sofort
634
                        {
635
                        GRN_OFF;
636
                        MotorenEin = 0;
637
                        delay_neutral = 0;
638
                        modell_fliegt = 0;
639
                        if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70)
640
                        {
304 ingob 641
                         unsigned char setting=1;
1 ingob 642
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1;
643
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2;
644
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3;
645
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4;
646
                         if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5;
1063 killagreg 647
                         SetActiveParamSetNumber(setting);  // aktiven Datensatz merken
1 ingob 648
                        }
820 hbuss 649
//                        else
1051 killagreg 650
                         if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70)
651
                          {
819 hbuss 652
                           WinkelOut.CalcState = 1;
653
                           beeptime = 1000;
654
                          }
655
                          else
1 ingob 656
                          {
819 hbuss 657
                               ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
1413 killagreg 658
                               LipoDetection(0);
1435 killagreg 659
                                                   LIBFC_ReceiverInit();
819 hbuss 660
                           if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung aktiviert?
661
                            {
1 ingob 662
                             if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
1051 killagreg 663
                            }
1330 killagreg 664
                                                   ServoActive = 0;
819 hbuss 665
                           SetNeutral();
1232 hbuss 666
                                                   ServoActive = 1;
667
                                                   DDRD  |=0x80; // enable J7 -> Servo signal
668
                           Piep(GetActiveParamSetNumber(),120);
819 hbuss 669
                         }
1051 killagreg 670
                        }
1 ingob 671
                    }
1051 killagreg 672
                 else
513 hbuss 673
                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)  // ACC Neutralwerte speichern
674
                    {
675
                    if(++delay_neutral > 200)  // nicht sofort
676
                        {
677
                        GRN_OFF;
678
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen
679
                        MotorenEin = 0;
680
                        delay_neutral = 0;
681
                        modell_fliegt = 0;
682
                        SetNeutral();
683
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern
684
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern
685
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256);
686
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256);
687
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256);
688
                        eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256);
1232 hbuss 689
                        Piep(GetActiveParamSetNumber(),120);
1051 killagreg 690
                        }
513 hbuss 691
                    }
1 ingob 692
                 else delay_neutral = 0;
693
                }
1051 killagreg 694
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 695
// Gas ist unten
1051 killagreg 696
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
595 hbuss 697
            if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120)
1 ingob 698
                {
1521 killagreg 699
                                        // Motoren Starten
700
                                        if(!MotorenEin)
701
                        {
702
                                                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)
703
                                                {
1051 killagreg 704
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 705
// Einschalten
1051 killagreg 706
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1521 killagreg 707
                                                        if(++delay_einschalten > 200)
708
                                                        {
709
                                                                delay_einschalten = 0;
710
                                                                modell_fliegt = 1;
711
                                                                MotorenEin = 1;
712
                                                                sollGier = 0;
713
                                                                Mess_Integral_Gier = 0;
714
                                                                Mess_Integral_Gier2 = 0;
715
                                                                Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
716
                                                                Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
717
                                                                Mess_IntegralNick2 = IntegralNick;
718
                                                                Mess_IntegralRoll2 = IntegralRoll;
719
                                                                SummeNick = 0;
720
                                                                SummeRoll = 0;
721
                                                                FCFlags |= FCFLAG_START;
722
                                                        }
723
                                                }
724
                                                else delay_einschalten = 0;
725
                                        }
1051 killagreg 726
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 727
// Auschalten
1051 killagreg 728
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1521 killagreg 729
                                        else // only if motors are running
730
                                        {
731
                                                if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)
732
                                                {
733
                                                        if(++delay_ausschalten > 200)  // nicht sofort
734
                                                        {
735
                                                                MotorenEin = 0;
736
                                                                delay_ausschalten = 0;
737
                                                                modell_fliegt = 0;
738
                                                        }
739
                                                }
740
                                                else delay_ausschalten = 0;
741
                                        }
1 ingob 742
                }
743
            }
1051 killagreg 744
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 745
// neue Werte von der Funke
1051 killagreg 746
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 747
 
1420 killagreg 748
 if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG))
1 ingob 749
  {
604 hbuss 750
        static int stick_nick,stick_roll;
1 ingob 751
    ParameterZuordnung();
1051 killagreg 752
    stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4;
723 hbuss 753
    stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
805 hbuss 754
    StickNick = stick_nick - (GPS_Nick + GPS_Nick2);
604 hbuss 755
 
723 hbuss 756
    stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4;
757
    stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
805 hbuss 758
    StickRoll = stick_roll - (GPS_Roll + GPS_Roll2);
723 hbuss 759
 
1 ingob 760
    StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
1120 hbuss 761
        if(StickGier > 2) StickGier -= 2;       else
762
        if(StickGier < -2) StickGier += 2; else StickGier = 0;
763
 
1350 hbuss 764
        StickGas  = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120;
1330 killagreg 765
 
1153 hbuss 766
    GyroFaktor     = (Parameter_Gyro_P + 10.0);
767
    IntegralFaktor = Parameter_Gyro_I;
1322 hbuss 768
    GyroFaktorGier     = (Parameter_Gyro_Gier_P + 10.0);
769
    IntegralFaktorGier = Parameter_Gyro_Gier_I;
1 ingob 770
 
595 hbuss 771
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
772
//+ Analoge Steuerung per Seriell
773
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
921 hbuss 774
   if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 128)
595 hbuss 775
    {
776
         StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P;
777
         StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P;
778
         StickGier += ExternControl.Gier;
779
     ExternHoehenValue =  (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung;
780
     if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas;
781
    }
855 hbuss 782
    if(StickGas < 0) StickGas = 0;
1330 killagreg 783
 
1 ingob 784
    if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor =  0;
1330 killagreg 785
    //if(GyroFaktor < 0) GyroFaktor = 0;
786
    //if(IntegralFaktor < 0) IntegralFaktor = 0;
723 hbuss 787
 
1051 killagreg 788
    if(abs(StickNick/STICK_GAIN) > MaxStickNick)
928 hbuss 789
     {
1051 killagreg 790
      MaxStickNick = abs(StickNick)/STICK_GAIN;
928 hbuss 791
      if(MaxStickNick > 100) MaxStickNick = 100;
1051 killagreg 792
     }
928 hbuss 793
     else MaxStickNick--;
1051 killagreg 794
    if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
928 hbuss 795
     {
1051 killagreg 796
      MaxStickRoll = abs(StickRoll)/STICK_GAIN;
928 hbuss 797
      if(MaxStickRoll > 100) MaxStickRoll = 100;
1051 killagreg 798
     }
928 hbuss 799
     else MaxStickRoll--;
1420 killagreg 800
    if(FCFlags & FCFLAG_NOTLANDUNG)  {MaxStickNick = 0; MaxStickRoll = 0;}
723 hbuss 801
 
1051 killagreg 802
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 803
// Looping?
1051 killagreg 804
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
993 hbuss 805
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_LINKS)  Looping_Links = 1;
1051 killagreg 806
  else
807
   {
395 hbuss 808
     {
1051 killagreg 809
      if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0;
810
     }
811
   }
993 hbuss 812
  if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1;
1051 killagreg 813
   else
395 hbuss 814
   {
815
   if(Looping_Rechts) // Hysterese
816
     {
817
      if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0;
818
     }
1051 killagreg 819
   }
173 holgerb 820
 
993 hbuss 821
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_OBEN) Looping_Oben = 1;
1051 killagreg 822
  else
823
   {
395 hbuss 824
    if(Looping_Oben)  // Hysterese
825
     {
1051 killagreg 826
      if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0;
827
     }
828
   }
993 hbuss 829
  if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & CFG_LOOP_UNTEN) Looping_Unten = 1;
1051 killagreg 830
   else
395 hbuss 831
   {
832
    if(Looping_Unten) // Hysterese
833
     {
834
      if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0;
835
     }
1051 killagreg 836
   }
395 hbuss 837
 
838
   if(Looping_Links || Looping_Rechts)   Looping_Roll = 1; else Looping_Roll = 0;
1153 hbuss 839
   if(Looping_Oben  || Looping_Unten) {  Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0;
395 hbuss 840
  } // Ende neue Funken-Werte
841
 
842
  if(Looping_Roll || Looping_Nick)
843
   {
173 holgerb 844
    if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
1153 hbuss 845
        TrichterFlug = 1;
173 holgerb 846
   }
847
 
1051 killagreg 848
 
849
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
850
// Bei Empfangsausfall im Flug
851
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1420 killagreg 852
   if(FCFlags & FCFLAG_NOTLANDUNG)
1 ingob 853
    {
854
     StickGier = 0;
855
     StickNick = 0;
856
     StickRoll = 0;
1211 hbuss 857
     GyroFaktor     = 90;
858
     IntegralFaktor = 120;
859
     GyroFaktorGier     = 90;
860
     IntegralFaktorGier = 120;
173 holgerb 861
     Looping_Roll = 0;
862
     Looping_Nick = 0;
1051 killagreg 863
    }
395 hbuss 864
 
865
 
1051 killagreg 866
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 867
// Integrale auf ACC-Signal abgleichen
1051 killagreg 868
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 869
#define ABGLEICH_ANZAHL 256L
870
 
871
 MittelIntegralNick  += IntegralNick;    // Für die Mittelwertbildung aufsummieren
872
 MittelIntegralRoll  += IntegralRoll;
873
 MittelIntegralNick2 += IntegralNick2;
874
 MittelIntegralRoll2 += IntegralRoll2;
875
 
876
 if(Looping_Nick || Looping_Roll)
877
  {
878
    IntegralAccNick = 0;
879
    IntegralAccRoll = 0;
880
    MittelIntegralNick = 0;
881
    MittelIntegralRoll = 0;
882
    MittelIntegralNick2 = 0;
883
    MittelIntegralRoll2 = 0;
884
    Mess_IntegralNick2 = Mess_IntegralNick;
885
    Mess_IntegralRoll2 = Mess_IntegralRoll;
886
    ZaehlMessungen = 0;
498 hbuss 887
    LageKorrekturNick = 0;
888
    LageKorrekturRoll = 0;
395 hbuss 889
  }
890
 
1051 killagreg 891
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1224 hbuss 892
  if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
469 hbuss 893
  {
894
   long tmp_long, tmp_long2;
1171 hbuss 895
   if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/)
992 hbuss 896
     {
897
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 898
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
899
      tmp_long  = (tmp_long  * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
900
      tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
992 hbuss 901
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
902
      {
903
      tmp_long  /= 2;
904
      tmp_long2 /= 2;
905
      }
906
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
907
      {
908
      tmp_long  /= 3;
909
      tmp_long2 /= 3;
910
      }
911
      if(tmp_long >  (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
912
      if(tmp_long <  (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long  = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
913
      if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
914
      if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion)  tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
915
     }
1051 killagreg 916
     else
992 hbuss 917
     {
918
      tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
1051 killagreg 919
      tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
992 hbuss 920
      tmp_long /= 16;
921
      tmp_long2 /= 16;
922
     if((MaxStickNick > 64) || (MaxStickRoll > 64))
923
      {
924
      tmp_long  /= 3;
925
      tmp_long2 /= 3;
1216 killagreg 926
      }
927
     if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
992 hbuss 928
      {
929
      tmp_long  /= 3;
930
      tmp_long2 /= 3;
931
      }
1155 hbuss 932
 
933
#define AUSGLEICH  32
992 hbuss 934
      if(tmp_long >  AUSGLEICH)  tmp_long  = AUSGLEICH;
935
      if(tmp_long < -AUSGLEICH)  tmp_long  =-AUSGLEICH;
936
      if(tmp_long2 > AUSGLEICH)  tmp_long2 = AUSGLEICH;
937
      if(tmp_long2 <-AUSGLEICH)  tmp_long2 =-AUSGLEICH;
938
     }
1166 hbuss 939
 
940
//if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;}
1111 hbuss 941
   Mess_IntegralNick -= tmp_long;
942
   Mess_IntegralRoll -= tmp_long2;
469 hbuss 943
  }
1051 killagreg 944
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 945
 if(ZaehlMessungen >= ABGLEICH_ANZAHL)
946
 {
947
  static int cnt = 0;
948
  static char last_n_p,last_n_n,last_r_p,last_r_n;
949
  static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt;
1173 hbuss 950
  if(!Looping_Nick && !Looping_Roll && !TrichterFlug && EE_Parameter.Driftkomp)
173 holgerb 951
  {
395 hbuss 952
    MittelIntegralNick  /= ABGLEICH_ANZAHL;
953
    MittelIntegralRoll  /= ABGLEICH_ANZAHL;
954
        IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL;
955
        IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL;
956
    IntegralAccZ    = IntegralAccZ / ABGLEICH_ANZAHL;
492 hbuss 957
#define MAX_I 0//(Poti2/10)
395 hbuss 958
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
959
    IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
960
    ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich;
1051 killagreg 961
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
962
    IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
395 hbuss 963
    ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
614 hbuss 964
 
965
    LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
498 hbuss 966
    LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 967
 
992 hbuss 968
   if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1))
614 hbuss 969
    {
970
     LageKorrekturNick /= 2;
720 ingob 971
     LageKorrekturRoll /= 2;
614 hbuss 972
    }
498 hbuss 973
 
1051 killagreg 974
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 975
// Gyro-Drift ermitteln
1051 killagreg 976
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 977
    MittelIntegralNick2 /= ABGLEICH_ANZAHL;
978
    MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
1051 killagreg 979
    tmp_long  = IntegralNick2 - IntegralNick;
980
    tmp_long2 = IntegralRoll2 - IntegralRoll;
395 hbuss 981
    //DebugOut.Analog[25] = MittelIntegralRoll2 / 26;
982
 
983
    IntegralFehlerNick = tmp_long;
984
    IntegralFehlerRoll = tmp_long2;
985
    Mess_IntegralNick2 -= IntegralFehlerNick;
986
    Mess_IntegralRoll2 -= IntegralFehlerRoll;
987
 
1111 hbuss 988
  if(EE_Parameter.Driftkomp)
989
   {
927 hbuss 990
    if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; }
991
    if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; }
1111 hbuss 992
   }
693 hbuss 993
    GierGyroFehler = 0;
720 ingob 994
 
995
 
1243 killagreg 996
#define FEHLER_LIMIT  (ABGLEICH_ANZAHL / 2)
997
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
1225 hbuss 998
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16
492 hbuss 999
#define BEWEGUNGS_LIMIT 20000
395 hbuss 1000
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
1001
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 1002
        if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4;
1173 hbuss 1003
        if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1004
        {
1051 killagreg 1005
        if(IntegralFehlerNick >  FEHLER_LIMIT2)
395 hbuss 1006
         {
1051 killagreg 1007
           if(last_n_p)
395 hbuss 1008
           {
1173 hbuss 1009
            cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1010
            ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1011
            if(ausgleichNick > 5000) ausgleichNick = 5000;
498 hbuss 1012
            LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1013
           }
395 hbuss 1014
           else last_n_p = 1;
1015
         } else  last_n_p = 0;
1051 killagreg 1016
        if(IntegralFehlerNick < -FEHLER_LIMIT2)
395 hbuss 1017
         {
1018
           if(last_n_n)
1051 killagreg 1019
            {
1173 hbuss 1020
             cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
492 hbuss 1021
             ausgleichNick = IntegralFehlerNick / 8;
401 hbuss 1022
             if(ausgleichNick < -5000) ausgleichNick = -5000;
498 hbuss 1023
             LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
1051 killagreg 1024
            }
395 hbuss 1025
           else last_n_n = 1;
1026
         } else  last_n_n = 0;
1051 killagreg 1027
        }
1028
        else
847 hbuss 1029
        {
1030
         cnt = 0;
921 hbuss 1031
         KompassSignalSchlecht = 1000;
1051 killagreg 1032
        }
499 hbuss 1033
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1034
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1035
        if(IntegralFehlerNick >  FEHLER_LIMIT)   AdNeutralNick += cnt;
1036
        if(IntegralFehlerNick < -FEHLER_LIMIT)   AdNeutralNick -= cnt;
401 hbuss 1037
 
395 hbuss 1038
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
492 hbuss 1039
        cnt = 1;// + labs(IntegralFehlerNick) / 4096;
1225 hbuss 1040
        if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4;
498 hbuss 1041
        ausgleichRoll = 0;
1173 hbuss 1042
        if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
492 hbuss 1043
        {
1051 killagreg 1044
        if(IntegralFehlerRoll >  FEHLER_LIMIT2)
395 hbuss 1045
         {
1051 killagreg 1046
           if(last_r_p)
395 hbuss 1047
           {
1173 hbuss 1048
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1049
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1050
            if(ausgleichRoll > 5000) ausgleichRoll = 5000;
498 hbuss 1051
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
1051 killagreg 1052
           }
395 hbuss 1053
           else last_r_p = 1;
1054
         } else  last_r_p = 0;
1051 killagreg 1055
        if(IntegralFehlerRoll < -FEHLER_LIMIT2)
395 hbuss 1056
         {
1051 killagreg 1057
           if(last_r_n)
395 hbuss 1058
           {
1173 hbuss 1059
            cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
492 hbuss 1060
            ausgleichRoll = IntegralFehlerRoll / 8;
401 hbuss 1061
            if(ausgleichRoll < -5000) ausgleichRoll = -5000;
498 hbuss 1062
            LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
395 hbuss 1063
           }
1064
           else last_r_n = 1;
1065
         } else  last_r_n = 0;
1051 killagreg 1066
        } else
492 hbuss 1067
        {
1068
         cnt = 0;
921 hbuss 1069
         KompassSignalSchlecht = 1000;
1051 killagreg 1070
        }
499 hbuss 1071
        if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
1173 hbuss 1072
                if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
395 hbuss 1073
        if(IntegralFehlerRoll >  FEHLER_LIMIT)   AdNeutralRoll += cnt;
1074
        if(IntegralFehlerRoll < -FEHLER_LIMIT)   AdNeutralRoll -= cnt;
173 holgerb 1075
  }
1051 killagreg 1076
  else
498 hbuss 1077
  {
1078
   LageKorrekturRoll = 0;
1079
   LageKorrekturNick = 0;
880 hbuss 1080
   TrichterFlug = 0;
498 hbuss 1081
  }
1051 killagreg 1082
 
498 hbuss 1083
  if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
1051 killagreg 1084
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
1085
   MittelIntegralNick_Alt = MittelIntegralNick;
1086
   MittelIntegralRoll_Alt = MittelIntegralRoll;
1087
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
395 hbuss 1088
    IntegralAccNick = 0;
1089
    IntegralAccRoll = 0;
1090
    IntegralAccZ = 0;
1091
    MittelIntegralNick = 0;
1092
    MittelIntegralRoll = 0;
1093
    MittelIntegralNick2 = 0;
1094
    MittelIntegralRoll2 = 0;
1095
    ZaehlMessungen = 0;
1173 hbuss 1096
 } //  ZaehlMessungen >= ABGLEICH_ANZAHL
395 hbuss 1097
 
1173 hbuss 1098
 
1051 killagreg 1099
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1100
//  Gieren
1051 killagreg 1101
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
693 hbuss 1102
//    if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;};
1051 killagreg 1103
    if(abs(StickGier) > 15) // war 35
1 ingob 1104
     {
921 hbuss 1105
      KompassSignalSchlecht = 1000;
1051 killagreg 1106
      if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX))
1107
       {
1108
         NeueKompassRichtungMerken = 1;
824 hbuss 1109
        };
1 ingob 1110
     }
395 hbuss 1111
    tmp_int  = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo  y = ax + bx²
1051 killagreg 1112
    tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
173 holgerb 1113
    sollGier = tmp_int;
1051 killagreg 1114
    Mess_Integral_Gier -= tmp_int;
395 hbuss 1115
    if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000;  // begrenzen
1116
    if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000;
1051 killagreg 1117
 
1118
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1119
//  Kompass
1051 killagreg 1120
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1175 hbuss 1121
//DebugOut.Analog[16] = KompassSignalSchlecht;
819 hbuss 1122
 
1051 killagreg 1123
    if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
1 ingob 1124
     {
819 hbuss 1125
       int w,v,r,fehler,korrektur;
1 ingob 1126
       w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
1127
       v = abs(IntegralRoll /512);
1128
       if(v > w) w = v; // grösste Neigung ermitteln
824 hbuss 1129
       korrektur = w / 8 + 1;
921 hbuss 1130
       fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180;
1171 hbuss 1131
       if(abs(MesswertGier) > 128)
1036 hbuss 1132
            {
1133
                 fehler = 0;
1051 killagreg 1134
                }
921 hbuss 1135
       if(!KompassSignalSchlecht && w < 25)
1136
        {
1137
        GierGyroFehler += fehler;
1051 killagreg 1138
        if(NeueKompassRichtungMerken)
1139
         {
1352 hbuss 1140
//         beeptime = 200;
847 hbuss 1141
//         KompassStartwert = KompassValue;
1171 hbuss 1142
                  ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
921 hbuss 1143
          KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR);
1144
          NeueKompassRichtungMerken = 0;
1145
         }
1 ingob 1146
        }
824 hbuss 1147
       ErsatzKompass += (fehler * 8) / korrektur;
921 hbuss 1148
       w = (w * Parameter_KompassWirkung) / 32;           // auf die Wirkung normieren
1 ingob 1149
       w = Parameter_KompassWirkung - w;                  // Wirkung ggf drosseln
921 hbuss 1150
       if(w >= 0)
1 ingob 1151
        {
1051 killagreg 1152
          if(!KompassSignalSchlecht)
693 hbuss 1153
          {
1051 killagreg 1154
           v = 64 + ((MaxStickNick + MaxStickRoll)) / 8;
847 hbuss 1155
           r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180;
1156
//           r = KompassRichtung;
819 hbuss 1157
           v = (r * w) / v;  // nach Kompass ausrichten
1158
           w = 3 * Parameter_KompassWirkung;
693 hbuss 1159
           if(v > w) v = w; // Begrenzen
1051 killagreg 1160
           else
693 hbuss 1161
           if(v < -w) v = -w;
1162
           Mess_Integral_Gier += v;
1051 killagreg 1163
          }
693 hbuss 1164
          if(KompassSignalSchlecht) KompassSignalSchlecht--;
1051 killagreg 1165
        }
921 hbuss 1166
        else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek
1051 killagreg 1167
     }
1168
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1169
 
1051 killagreg 1170
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1171
//  Debugwerte zuordnen
1051 killagreg 1172
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1173
  if(!TimerWerteausgabe--)
1174
   {
395 hbuss 1175
    TimerWerteausgabe = 24;
805 hbuss 1176
 
1171 hbuss 1177
    DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
1178
    DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
1179
    DebugOut.Analog[2] = Mittelwert_AccNick / 4;
1180
    DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
1 ingob 1181
    DebugOut.Analog[4] = MesswertGier;
1314 killagreg 1182
    DebugOut.Analog[5] = HoehenWert/5;
1224 hbuss 1183
    DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az;
1 ingob 1184
    DebugOut.Analog[8] = KompassValue;
297 holgerb 1185
    DebugOut.Analog[9] = UBat;
1283 hbuss 1186
    DebugOut.Analog[10] = SenderOkay;
1051 killagreg 1187
    DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR;
929 hbuss 1188
    //DebugOut.Analog[16] = Mittelwert_AccHoch;
1083 killagreg 1189
    //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance;
1253 killagreg 1190
    DebugOut.Analog[18] = VarioMeter;
819 hbuss 1191
    DebugOut.Analog[19] = WinkelOut.CalcState;
1328 hbuss 1192
    DebugOut.Analog[20] = ServoNickValue;
1497 holgerb 1193
    DebugOut.Analog[22] = Capacity.ActualCurrent;
1194
    DebugOut.Analog[23] = Capacity.UsedCapacity;
1322 hbuss 1195
//    DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ;
1171 hbuss 1196
//    DebugOut.Analog[24] = MesswertNick/2;
1197
//    DebugOut.Analog[25] = MesswertRoll/2;
1322 hbuss 1198
//    DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift;
1172 hbuss 1199
//    DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion;
1200
//    DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K;
1322 hbuss 1201
    //DebugOut.Analog[28] = I2CError;
1423 hbuss 1202
    DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay;
1216 killagreg 1203
    DebugOut.Analog[30] = GPS_Nick;
720 ingob 1204
    DebugOut.Analog[31] = GPS_Roll;
1 ingob 1205
  }
1206
 
1051 killagreg 1207
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1208
//  Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
1051 killagreg 1209
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1216 killagreg 1210
  if(TrichterFlug)  { SummeRoll = 0; SummeNick = 0;};
604 hbuss 1211
 
1171 hbuss 1212
  if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
1213
  if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) /  (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
1153 hbuss 1214
 
1167 hbuss 1215
#define TRIM_MAX 200
1166 hbuss 1216
 if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else  if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
1217
 if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else  if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
1153 hbuss 1218
 
1166 hbuss 1219
    MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
1220
    MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
1211 hbuss 1221
    MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
1166 hbuss 1222
 
1 ingob 1223
    // Maximalwerte abfangen
1153 hbuss 1224
//    #define MAX_SENSOR  (4096*STICK_GAIN)
1225
    #define MAX_SENSOR  (4096*4)
1216 killagreg 1226
    if(MesswertNick >  MAX_SENSOR) MesswertNick =  MAX_SENSOR;
1 ingob 1227
    if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR;
1228
    if(MesswertRoll >  MAX_SENSOR) MesswertRoll =  MAX_SENSOR;
1229
    if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR;
1230
    if(MesswertGier >  MAX_SENSOR) MesswertGier =  MAX_SENSOR;
1231
    if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR;
1232
 
1051 killagreg 1233
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1234
// Höhenregelung
1235
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
1051 killagreg 1236
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1374 hbuss 1237
  if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
855 hbuss 1238
  GasMischanteil *= STICK_GAIN;
1309 hbuss 1239
 
1240
        // if height control is activated
1322 hbuss 1241
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick))  // Höhenregelung
1309 hbuss 1242
        {
1332 hbuss 1243
                #define HOOVER_GAS_AVERAGE 4096L                // 4096 * 2ms = 8.2s averaging
1244
                #define HC_GAS_AVERAGE 4                        // 4 * 2ms= 8ms averaging
1309 hbuss 1245
                #define OPA_OFFSET_STEP 10
1587 killagreg 1246
                int HCGas, HeightDeviation = 0;
1309 hbuss 1247
                static int HeightTrimming = 0;  // rate for change of height setpoint
1248
                static int FilterHCGas = 0;
1587 killagreg 1249
                static int StickGasHover = 120, HoverGas = 0, HoverGasMin = 0, HoverGasMax = 1023;
1250
                static unsigned long HoverGasFilter = 0;
1322 hbuss 1251
                static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
1320 hbuss 1252
            int CosAttitude;    // for projection of hoover gas
1330 killagreg 1253
 
1309 hbuss 1254
                // get the current hooverpoint
1587 killagreg 1255
                DebugOut.Analog[21] = HoverGas;
1309 hbuss 1256
                DebugOut.Analog[18] = VarioMeter;
1257
 
1322 hbuss 1258
        // Expand the measurement
1259
                // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
1260
          if(!BaroExpandActive)
1261
                   {
1262
                        if(MessLuftdruck > 920)
1263
                        {   // increase offset
1330 killagreg 1264
             if(OCR0A < (255 - OPA_OFFSET_STEP))
1322 hbuss 1265
                           {
1266
                                ExpandBaro -= 1;
1267
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
1268
                                beeptime = 300;
1352 hbuss 1269
                                BaroExpandActive = 350;
1330 killagreg 1270
                           }
1271
                           else
1322 hbuss 1272
                           {
1273
                            BaroAtLowerLimit = 1;
1274
               }
1275
                        }
1276
                        // measurement of air pressure close to lower limit and
1330 killagreg 1277
                        else
1322 hbuss 1278
                        if(MessLuftdruck < 100)
1279
                        {   // decrease offset
1330 killagreg 1280
                          if(OCR0A > OPA_OFFSET_STEP)
1322 hbuss 1281
                           {
1282
                                ExpandBaro += 1;
1283
                                OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
1284
                                beeptime = 300;
1352 hbuss 1285
                                BaroExpandActive = 350;
1330 killagreg 1286
                           }
1287
                           else
1322 hbuss 1288
                           {
1289
                            BaroAtUpperLimit = 1;
1290
               }
1291
                        }
1330 killagreg 1292
                        else
1322 hbuss 1293
                        {
1294
                            BaroAtUpperLimit = 0;
1295
                                BaroAtLowerLimit = 0;
1296
                        }
1297
                   }
1298
                   else // delay, because of expanding the Baro-Range
1299
                   {
1300
                    // now clear the D-values
1301
                          SummenHoehe = HoehenWert * SM_FILTER;
1302
                          VarioMeter = 0;
1303
                          BaroExpandActive--;
1304
                   }
1328 hbuss 1305
 
1306
                // if height control is activated by an rc channel
1307
        if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)  // Regler wird über Schalter gesteuert
1308
                {       // check if parameter is less than activation threshold
1309
                        if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position
1310
                        {   //height control not active
1311
                                if(!delay--)
1312
                                {
1313
                                        HoehenReglerAktiv = 0; // disable height control
1314
                                        SollHoehe = HoehenWert;  // update SetPoint with current reading
1315
                                        delay = 1;
1316
                                }
1317
                        }
1318
                        else
1319
                        {       //height control is activated
1320
                                HoehenReglerAktiv = 1; // enable height control
1334 killagreg 1321
                                delay = 200;
1328 hbuss 1322
                        }
1051 killagreg 1323
                }
1309 hbuss 1324
                else // no switchable height control
1325
                {
1326
                        SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung;
1327
                        HoehenReglerAktiv = 1;
1051 killagreg 1328
                }
1322 hbuss 1329
 
1320 hbuss 1330
                // calculate cos of nick and roll angle used for projection of the vertical hoover gas
1330 killagreg 1331
                tmp_int  = (int)(IntegralNick/GIER_GRAD_FAKTOR);  // nick angle in deg
1332
                tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR);  // roll angle in deg
1333
                CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
1320 hbuss 1334
                LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
1335
                CosAttitude = c_cos_8192(CosAttitude);  // cos of actual attitude
1420 killagreg 1336
                if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG))
1309 hbuss 1337
                {
1338
                        #define HEIGHT_TRIM_UP          0x01
1339
                        #define HEIGHT_TRIM_DOWN        0x02
1340
                        static unsigned char HeightTrimmingFlag = 0x00;
1341
 
1330 killagreg 1342
                        #define HEIGHT_CONTROL_STICKTHRESHOLD 15
1309 hbuss 1343
                // Holger original version
1344
                // start of height control algorithm
1345
                // the height control is only an attenuation of the actual gas stick.
1346
                // I.e. it will work only if the gas stick is higher than the hover gas
1347
                // and the hover height will be allways larger than height setpoint.
1314 killagreg 1348
        if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER))  // Regler wird über Schalter gesteuert)
1349
              {  // old version
1309 hbuss 1350
                        HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
1351
                        HeightTrimming = 0;
1352
          }
1314 killagreg 1353
                  else
1309 hbuss 1354
                  {
1355
                // alternative height control
1356
                // PD-Control with respect to hoover point
1357
                // the thrust loss out of horizontal attitude is compensated
1358
                // the setpoint will be fine adjusted with the gas stick position
1420 killagreg 1359
                        if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying
1309 hbuss 1360
                        {   // gas stick is above hoover point
1587 killagreg 1361
                                if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
1309 hbuss 1362
                                {
1363
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN)
1364
                                        {
1365
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN;
1366
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1367
                                        }
1368
                                        HeightTrimmingFlag |= HEIGHT_TRIM_UP;
1587 killagreg 1369
                                        HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));
1309 hbuss 1370
                                } // gas stick is below hoover point
1587 killagreg 1371
                                else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )
1309 hbuss 1372
                                {
1373
                                        if(HeightTrimmingFlag & HEIGHT_TRIM_UP)
1374
                                        {
1375
                                                HeightTrimmingFlag &= ~HEIGHT_TRIM_UP;
1376
                                                SollHoehe = HoehenWert; // update setpoint to current heigth
1377
                                        }
1378
                                        HeightTrimmingFlag |= HEIGHT_TRIM_DOWN;
1587 killagreg 1379
                                        HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
1309 hbuss 1380
                                }
1587 killagreg 1381
                                else // Gas Stick in Hover Range
1309 hbuss 1382
                                {
1352 hbuss 1383
                                        if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN))
1309 hbuss 1384
                                        {
1352 hbuss 1385
                                                HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN);
1309 hbuss 1386
                                                HeightTrimming = 0;
1387
                                                SollHoehe = HoehenWert; // update setpoint to current height
1388
                                                if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500;
1389
                                        }
1390
                                }
1391
                                // Trim height set point
1334 killagreg 1392
                                if(abs(HeightTrimming) > 512)
1309 hbuss 1393
                                {
1332 hbuss 1394
                                        SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint
1309 hbuss 1395
                                        HeightTrimming = 0;
1587 killagreg 1396
                    LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied
1309 hbuss 1397
                                        if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 75;
1320 hbuss 1398
                                        //update hoover gas stick value when setpoint is shifted
1332 hbuss 1399
                       if(!EE_Parameter.Hoehe_StickNeutralPoint)
1400
                       {
1587 killagreg 1401
                           StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value
1402
                           StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning;
1403
                           if(StickGasHover < 70) StickGasHover = 70;
1404
                           else if(StickGasHover > 150) StickGasHover = 150;
1332 hbuss 1405
                       }
1309 hbuss 1406
                                }
1352 hbuss 1407
              if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active
1420 killagreg 1408
                        } //if FCFlags & MKFCFLAG_FLY
1330 killagreg 1409
                        else
1410
                        {
1322 hbuss 1411
                         SollHoehe = HoehenWert - 400;
1587 killagreg 1412
                         if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
1413
                         else StickGasHover = 120;
1320 hbuss 1414
                         }
1587 killagreg 1415
                        HCGas = HoverGas;      // take hoover gas (neutral point)
1309 hbuss 1416
          }
1314 killagreg 1417
         if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT))
1283 hbuss 1418
                 {
1309 hbuss 1419
            // ------------------------- P-Part ----------------------------
1562 killagreg 1420
            tmp_long = (HoehenWert - SollHoehe); // positive when too high
1587 killagreg 1421
                        LIMIT_MIN_MAX(tmp_long, -32767L, 32767L);       // avoid overflov when casting to int16_t
1562 killagreg 1422
                        HeightDeviation = (int)(tmp_long); // positive when too high
1587 killagreg 1423
                        tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 16L; // p-part
1424
                        LIMIT_MIN_MAX(tmp_long, -255 * STICK_GAIN, 255 * STICK_GAIN); // more than 2 times the full range makes no sense
1425
                        HCGas -= tmp_long;
1309 hbuss 1426
                        // ------------------------- D-Part 1: Vario Meter ----------------------------
1588 killagreg 1427
                        tmp_int = VarioMeter / 8;
1428
                        LIMIT_MIN_MAX(tmp_int, -180, 180);      // avoid overflow when squared
1429
                        tmp_int2 = tmp_int;
1430
                        LIMIT_MAX(tmp_int2,8); // limit quadratic part on upward movement to avoid to much gas reduction
1431
                        if(tmp_int2 > 0) tmp_int = tmp_int + (tmp_int2 * tmp_int2) / 4L;
1432
                        else             tmp_int = tmp_int - (tmp_int2 * tmp_int2) / 4L;
1433
                        tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 128L; // scale to d-gain parameter
1434
                        LIMIT_MIN_MAX(tmp_int,-32 * STICK_GAIN, 64 * STICK_GAIN);
1435
                        HCGas -= tmp_int;
1309 hbuss 1436
                        // ------------------------ D-Part 2: ACC-Z Integral  ------------------------
1587 killagreg 1437
                        tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN);
1438
                        LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN);
1439
                        HCGas -= tmp_long;
1440
 
1441
            if(BaroExpandActive) HCGas = HoverGas;
1442
                        // ------------------------ D-Part 3: GpsZ  ----------------------------------
1588 killagreg 1443
                        tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L;
1444
            LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN);
1309 hbuss 1445
                        HCGas -= tmp_int;
1587 killagreg 1446
 
1309 hbuss 1447
                        // limit deviation from hoover point within the target region
1587 killagreg 1448
                        if( (abs(HeightDeviation) < 150)  && (!HeightTrimming) && (HoverGas > 0)) // height setpoint is not changed and hoover gas not zero
1309 hbuss 1449
                        {
1587 killagreg 1450
                                LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point
1309 hbuss 1451
                        }
1276 hbuss 1452
 
1322 hbuss 1453
                        // strech control output by inverse attitude projection 1/cos
1454
            // + 1/cos(angle)  ++++++++++++++++++++++++++
1330 killagreg 1455
                        tmp_long2 = (int32_t)HCGas;
1456
                        tmp_long2 *= 8192L;
1457
                        tmp_long2 /= CosAttitude;
1458
                        HCGas = (int16_t)tmp_long2;
1309 hbuss 1459
                        // update height control gas averaging
1460
                        FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
1461
                        // limit height control gas pd-control output
1462
                        LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
1463
                        // set GasMischanteil to HeightControlGasFilter
1314 killagreg 1464
            if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)
1587 killagreg 1465
                        {  // old version
1466
                                LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas
1467
                        }
1309 hbuss 1468
                        GasMischanteil = FilterHCGas;
1314 killagreg 1469
                  }
1309 hbuss 1470
                }// EOF height control active
1320 hbuss 1471
                else // HC not active
1472
                {
1473
                        //update hoover gas stick value when HC is not active
1587 killagreg 1474
                        if(!EE_Parameter.Hoehe_StickNeutralPoint)
1475
                        {
1476
                                StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value
1477
                                StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning;
1322 hbuss 1478
                        }
1587 killagreg 1479
                        else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
1480
            LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down
1328 hbuss 1481
                        FilterHCGas = GasMischanteil;
1330 killagreg 1482
                }
1283 hbuss 1483
 
1587 killagreg 1484
                // Hover gas estimation by averaging gas control output on small z-velocities
1309 hbuss 1485
                // this is done only if height contol option is selected in global config and aircraft is flying
1420 killagreg 1486
                if((FCFlags & FCFLAG_FLY) && !(FCFlags & FCFLAG_NOTLANDUNG))
1309 hbuss 1487
                {
1587 killagreg 1488
                        if(HoverGasFilter == 0)  HoverGasFilter = HOOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
1309 hbuss 1489
                        if(abs(VarioMeter) < 100) // only on small vertical speed
1490
                        {
1330 killagreg 1491
                                tmp_long2 = (int32_t)GasMischanteil; // take current thrust
1492
                                tmp_long2 *= CosAttitude;            // apply attitude projection
1493
                                tmp_long2 /= 8192;
1494
 
1309 hbuss 1495
                                // average vertical projected thrust
1496
                                if(modell_fliegt < 2000) // the first 4 seconds
1497
                                {   // reduce the time constant of averaging by factor of 8 to get much faster a stable value
1587 killagreg 1498
                                        HoverGasFilter -= HoverGasFilter/(HOOVER_GAS_AVERAGE/8L);
1499
                                        HoverGasFilter += 8L * tmp_long2;
1309 hbuss 1500
                                }
1501
                                else if(modell_fliegt < 4000) // the first 8 seconds
1502
                                {   // reduce the time constant of averaging by factor of 4 to get much faster a stable value
1587 killagreg 1503
                                        HoverGasFilter -= HoverGasFilter/(HOOVER_GAS_AVERAGE/4L);
1504
                                        HoverGasFilter += 4L * tmp_long2;
1309 hbuss 1505
                                }
1506
                                else if(modell_fliegt < 8000) // the first 16 seconds
1507
                                {   // reduce the time constant of averaging by factor of 2 to get much faster a stable value
1587 killagreg 1508
                                        HoverGasFilter -= HoverGasFilter/(HOOVER_GAS_AVERAGE/2L);
1509
                                        HoverGasFilter += 2L * tmp_long2;
1309 hbuss 1510
                                }
1511
                                else //later
1512
                                {
1587 killagreg 1513
                                        HoverGasFilter -= HoverGasFilter/HOOVER_GAS_AVERAGE;
1514
                                        HoverGasFilter += tmp_long2;
1309 hbuss 1515
                                }
1587 killagreg 1516
                                HoverGas = (int16_t)(HoverGasFilter/HOOVER_GAS_AVERAGE);
1309 hbuss 1517
                                if(EE_Parameter.Hoehe_HoverBand)
1518
                                {
1519
                                        int16_t band;
1587 killagreg 1520
                                        band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
1521
                                        HoverGasMin = HoverGas - band;
1522
                                        HoverGasMax = HoverGas + band;
1309 hbuss 1523
                                }
1524
                                else
1525
                                {       // no limit
1587 killagreg 1526
                                        HoverGasMin = 0;
1527
                                        HoverGasMax = 1023;
1309 hbuss 1528
                                }
1529
                        }
1530
                }
1531
        }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL
1532
 
1533
        // limit gas to parameter setting
1320 hbuss 1534
  LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
855 hbuss 1535
  if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
1111 hbuss 1536
 
1051 killagreg 1537
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1320 hbuss 1538
// all BL-Ctrl connected?
1539
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1330 killagreg 1540
  if(MissingMotor)
1320 hbuss 1541
  if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0)
1542
   {
1543
    modell_fliegt = 1;
1544
        GasMischanteil = MIN_GAS;
1545
   }
1546
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1547
// + Mischer und PI-Regler
1051 killagreg 1548
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
173 holgerb 1549
  DebugOut.Analog[7] = GasMischanteil;
1051 killagreg 1550
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1551
// Gier-Anteil
1051 killagreg 1552
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
855 hbuss 1553
    GierMischanteil = MesswertGier - sollGier * STICK_GAIN;     // Regler für Gier
1554
#define MIN_GIERGAS  (40*STICK_GAIN)  // unter diesem Gaswert trotzdem Gieren
693 hbuss 1555
   if(GasMischanteil > MIN_GIERGAS)
1556
    {
1051 killagreg 1557
     if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
1558
     if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
693 hbuss 1559
    }
1051 killagreg 1560
    else
693 hbuss 1561
    {
1051 killagreg 1562
     if(GierMischanteil > (MIN_GIERGAS / 2))  GierMischanteil = MIN_GIERGAS / 2;
1563
     if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2);
693 hbuss 1564
    }
855 hbuss 1565
    tmp_int = MAX_GAS*STICK_GAIN;
1051 killagreg 1566
    if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil));
855 hbuss 1567
    if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil));
513 hbuss 1568
 
1051 killagreg 1569
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 1570
// Nick-Achse
1051 killagreg 1571
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
723 hbuss 1572
    DiffNick = MesswertNick - StickNick;        // Differenz bestimmen
1153 hbuss 1573
    if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung
1051 killagreg 1574
    else  SummeNick += DiffNick; // I-Anteil bei HH
855 hbuss 1575
    if(SummeNick >  (STICK_GAIN * 16000L)) SummeNick =  (STICK_GAIN * 16000L);
1576
    if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN);
1153 hbuss 1577
    pd_ergebnis_nick = DiffNick + SummeNick / Ki; // PI-Regler für Nick
1 ingob 1578
    // Motor Vorn
499 hbuss 1579
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1153 hbuss 1580
    if(pd_ergebnis_nick >  tmp_int) pd_ergebnis_nick =  tmp_int;
1581
    if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
173 holgerb 1582
 
1153 hbuss 1583
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1584
// Roll-Achse
1585
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1586
        DiffRoll = MesswertRoll - StickRoll;    // Differenz bestimmen
1587
    if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
1588
    else                 SummeRoll += DiffRoll;  // I-Anteil bei HH
1589
    if(SummeRoll >  (STICK_GAIN * 16000L)) SummeRoll =  (STICK_GAIN * 16000L);
1590
    if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
1591
    pd_ergebnis_roll = DiffRoll + SummeRoll / Ki;       // PI-Regler für Roll
1592
    tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
1593
    if(pd_ergebnis_roll >  tmp_int) pd_ergebnis_roll =  tmp_int;
1594
    if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
1595
 
1596
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1209 hbuss 1597
// Universal Mixer
1155 hbuss 1598
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1521 killagreg 1599
 for(i=0; i<MAX_MOTORS; i++)
1209 hbuss 1600
 {
1601
  signed int tmp_int;
1602
  if(Mixer.Motor[i][0] > 0)
1603
   {
1604
    tmp_int =  ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
1605
    tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
1606
    tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
1607
    tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
1608
    tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]);  // Filter
1216 killagreg 1609
        tmp_int = tmp_motorwert[i] / STICK_GAIN;
1209 hbuss 1610
        CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS);
1479 killagreg 1611
    Motor[i].SetPoint = tmp_int;
1209 hbuss 1612
   }
1479 killagreg 1613
   else Motor[i].SetPoint = 0;
1209 hbuss 1614
 }
1111 hbuss 1615
}