| 178,6 → 178,7 |
|---|
| char VarioCharacter = ' '; |
| unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
| unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
| int Variance = 0; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| 1044,7 → 1045,7 |
|---|
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[16] = GasIsZeroCnt; |
| //DebugOut.Analog[16] = GasIsZeroCnt; |
| //DebugOut.Analog[17] = VarioMeter; |
| |
| if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
| 1451,10 → 1452,10 |
|---|
| ExpandBaro += 1; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(PlatinenVersion > 21) |
| OCR0A = DruckOffsetSetting - (OPA_OFFSET_STEP/3) * ExpandBaro; // increase offset to shift ADC down |
| OCR0A = DruckOffsetSetting - (OPA_OFFSET_STEP/3) * ExpandBaro; // decrease offset to shift ADC up |
| else |
| #endif |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
| |
| beeptime = 300; |
| BaroExpandActive = 350; |
| 1672,8 → 1673,26 |
|---|
| LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
| HeightDeviation = (int)(tmp_long); // positive when too high |
| tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
| LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
| LIMIT_MIN_MAX(tmp_long, -511 * STICK_GAIN, 512 * STICK_GAIN); // more than full range makes sense |
| GasReduction = tmp_long; |
| // ------------------------- D-Part ---------------------------- Qopter: neu |
| tmp_long = vv; |
| if(WaypointTrimming) { |
| Variance = AltitudeSetpointTrimming*2*4; // oder *5, Anpassung nötig? |
| } else { |
| Variance = AltitudeSetpointTrimming*4; |
| } |
| DebugOut.Analog[16] = Variance; |
| tmp_long -= (long)Variance; |
| tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 32; // scale to d-gain parameter |
| LIMIT_MIN_MAX(tmp_long,-511 * STICK_GAIN, 512 * STICK_GAIN); |
| GasReduction += tmp_long; |
| } // EOF no baro range expanding |
| |
| HCGas -= GasReduction; |
| LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limits gas around hover point |
| |
| /* Qopter: deaktiviert |
| // ------------------------- D-Part 1: Vario Meter ---------------------------- |
| tmp_int = VarioMeter / 8; |
| LIMIT_MIN_MAX(tmp_int, -127, 128); |
| 1696,6 → 1715,7 |
|---|
| LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
| GasReduction += tmp_int; |
| GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
| |
| // ------------------------ ---------------------------------- |
| HCGas -= GasReduction; |
| // limit deviation from hoover point within the target region |
| 1723,6 → 1743,7 |
|---|
| } |
| } |
| } |
| */ |
| // strech control output by inverse attitude projection 1/cos |
| // + 1/cos(angle) ++++++++++++++++++++++++++ |
| tmp_long2 = (int32_t)HCGas; |
| 1739,7 → 1760,8 |
|---|
| LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
| GasMischanteil = FilterHCGas; |
| } |
| else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
| // else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
| else GasMischanteil = FilterHCGas;// + (GasMischanteil - HoverGas) / 4; // Qopter: geändert |
| } |
| }// EOF height control active |
| else // HC not active |
| 1761,7 → 1783,8 |
|---|
| // this is done only if height contol option is selected in global config and aircraft is flying |
| if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| { |
| if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| // if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(HoverGas); // Qopter: geändert |
| if(StartTrigger == 1) StartTrigger = 2; |
| tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| tmp_long2 *= CosAttitude; // apply attitude projection |
| 1778,7 → 1801,8 |
|---|
| HoverGasFilter += 4L * tmp_long2; |
| } |
| else //later |
| if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
| // if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
| if(abs(vv) < 50 && abs(HoehenWert - SollHoehe) < 256) // Qopter: geändert, Anpassung nötig? |
| { |
| HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
| HoverGasFilter += tmp_long2; |