| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/compass.c |
|---|
| 63,8 → 63,8 |
| return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
| case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
| MM3.NickGrad = asin_i((float)Aktuell_ax/EE_Parameter.UserParam1*200); |
| MM3.RollGrad = asin_i((float)Aktuell_ay/EE_Parameter.UserParam2*200); |
| MM3.NickGrad = asin_i((float)Aktuell_ax/220*200); |
| MM3.RollGrad = asin_i((float)Aktuell_ay/220*200); |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| 140,7 → 140,9 |
| cos_roll = cos_f(MM3.RollGrad); |
| // Neigungskompensation |
| x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| //x_corr = (cos_nick * MM3.x_axis) + (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| x_corr = (cos_nick * MM3.x_axis) - (((sin_roll * MM3.y_axis) - (cos_roll * MM3.z_axis)) * sin_nick); |
| y_corr = ((cos_roll * MM3.y_axis) + (sin_roll * MM3.z_axis)); |
| // Winkelberechnung |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/flight-ctrl_mega644_v0_64.aws |
|---|
| 1,0 → 0,0 |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v064JokoGPSNick666Acc\main.c" Position="343 108 875 484" LineCol="155 0" State="Maximized"/><File00001 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v064JokoGPSNick666Acc\compass.c" Position="333 69 1045 622" LineCol="25 0" State="Maximized"/><File00002 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v064JokoGPSNick666Acc\compass.h" Position="368 130 914 498" LineCol="0 0" State="Maximized"/><File00003 Name="E:\hubi\ufo\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\alpha\v064JokoGPSNick666Acc\fc.c" Position="336 71 1182 830" LineCol="834 0" State="Maximized"/></Files></AVRWorkspace> |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\Flight-Ctrl_V0_64_3_GPS_work_Jochenaccvonhand\main.c" Position="344 108 876 484" LineCol="155 0" State="Maximized"/><File00001 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\Flight-Ctrl_V0_64_3_GPS_work_Jochenaccvonhand\compass.c" Position="336 71 1048 624" LineCol="25 63" State="Maximized"/><File00002 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\Flight-Ctrl_V0_64_3_GPS_work_Jochenaccvonhand\compass.h" Position="371 132 917 500" LineCol="0 0" State="Maximized"/><File00003 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\Flight-Ctrl_V0_64_3_GPS_work_Jochenaccvonhand\fc.c" Position="330 67 1042 620" LineCol="834 0" State="Maximized"/><File00004 Name="E:\hubi\ufo\mickrokopter\a Versions\eigene versionen\Kompass + GPS\Flight-Ctrl_V0_64_3_GPS_work_Jochenaccvonhand\analog.c" Position="428 182 978 554" LineCol="0 0" State="Maximized"/></Files></AVRWorkspace> |
| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM3Acc/timer0.c |
|---|
| 3,11 → 3,16 |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int beeptime = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| unsigned int BeepMuster = 0xffff; |
| int ServoValue = 0; |
| /*Salvo 8.9.2007 |
| volatile uint8_t Kompass_Neuer_Wert= 0; |
| volatile unsigned int Kompass_Value_Old = 0; |
| // Salvo End |
| //Salvo 21.9.2007 |
| short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist |
| // Salvo End */ |
| enum { |
| STOP = 0, |
| CK = 1, |
| 23,16 → 28,17 |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| // if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| if(Timeout) Timeout--; |
| } |
| if(beeptime > 1) |
| 87,15 → 93,21 |
| if (!cntKompass--) // Aufruf mit 25 Hz |
| { |
| KompassValue = MM3_heading(); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| KompassValue = (MM3_heading()); |
| if (KompassValue < 0 ) { KompassValue = 380+MM3_heading();} |
| if (KompassValue > 359) { KompassValue = 359;} |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360); |
| cntKompass = 320; |
| } |
| } |
| } |
| //} |
| } |
| void Timer_Init(void) |
| 162,6 → 174,7 |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| //DebugOut.Analog[10] = ServoValue; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |