| 1173,7 → 1173,7 |
|---|
| DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
| DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
| DebugOut.Analog[4] = MesswertGier; |
| DebugOut.Analog[5] = HoehenWert/5; |
| DebugOut.Analog[5] = HoehenWert/5; |
| DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = UBat; |
| 1338,12 → 1338,12 |
|---|
| // the height control is only an attenuation of the actual gas stick. |
| // I.e. it will work only if the gas stick is higher than the hover gas |
| // and the hover height will be allways larger than height setpoint. |
| if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| { // old version |
| if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| { // old version |
| HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| HeightTrimming = 0; |
| } |
| else |
| else |
| { |
| // alternative height control |
| // PD-Control with respect to hoover point |
| 1392,8 → 1392,8 |
|---|
| else SollHoehe = HoehenWert - 200; |
| HCGas = HooverGas; // take hoover gas (neutral point) |
| } |
| |
| if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| |
| if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| { |
| // ------------------------- P-Part ---------------------------- |
| HeightDeviation = (int)(HoehenWert - SollHoehe); // positive when too high |
| 1414,7 → 1414,7 |
|---|
| HCGas -= tmp_int; |
| |
| // limit deviation from hoover point within the target region |
| if( (!HeightTrimming) && (HooverGas > 0)) // height setpoint is not changed and hoover gas not zero |
| if( (abs(HeightDeviation) < 150) && (!HeightTrimming) && (HooverGas > 0)) // height setpoint is not changed and hoover gas not zero |
| { |
| LIMIT_MIN_MAX(HCGas, HooverGasMin, HooverGasMax); // limit gas around the hoover point |
| } |
| 1435,12 → 1435,12 |
|---|
| // limit height control gas pd-control output |
| LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
| // set GasMischanteil to HeightControlGasFilter |
| if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
| { // old version |
| if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
| { // old version |
| if(FilterHCGas > GasMischanteil) FilterHCGas = GasMischanteil; // nicht mehr als Gas |
| } |
| } |
| GasMischanteil = FilterHCGas; |
| } |
| } |
| }// EOF height control active |
| |
| // Hoover gas estimation by averaging gas control output on small z-velocities |