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Ignore whitespace Rev 1019 → Rev 1020

/branches/FC_V070d_ACC-HH_Umschaltung/Hex-Files/Flight-Ctrl_MEGA644_V0_70d_ACC-HH_V02.hex
0,0 → 1,2324
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/branches/FC_V070d_ACC-HH_Umschaltung/Hex-Files/Wichtig.txt
0,0 → 1,31
+++++++++++++++++++++++++
+ wichtige Änderungen gegenüber der Standard- FC V0.70d:
+++++++++++++++++++++++++
 
V0.70d_ACC-HH MartinR 07.09.2008
- Diverse Änderungen in der fc.c um im Flug zwischen ACC-Mode und HH- Mode umschalten zu können.
- über UserParameter1 (>50, per Schalter) kann im ACC- Modus auf HH umgeschaltet werden.
UserParameter2 ist dann Stick-P. Hier unbedingt den für HH gewünschten Stick-P Wert eitragen!
Wird der HH-Mode über UserParameter1 aktiviert, so ist die Stick-Position im Moment des Umschaltens die Neutralposition für den HH-Mode. Hierdurch bleibt der ACC-Mode trimmbar. Der Nick- / Roll-Knüppel muß daher aber beim Umschalten von ACC auf HH in Mittelstellung stehen. Umschaltung von HH auf ACC kann bei beliebiger Stick-Position erfolgen.
Der Höhenregler ist beim HH-Mode über UserParameter1 deaktiviert.
- GyroFaktor I ist nun ausschließlich der I-Faktor im ACC-Mode.
- Main I ist nun ausschließlich der I-Faktor im HH-Mode.
- HH-Mode wurde reduziert auf die Regler-Grundfunktionen!
keine Driftkompensation, Gierfunktion nur mit P-Regler, keine GPS- oder Kompass Funktion.
V0.70d_ACC-HH_v02 MartinR 28.10.2008
- Umschaltpunkt auf HH über UserParameter1 wurde auf >180 geändert
- Höhenregler ist in Mittelstellung (50..180) aus, dadurch zusammen mit GPS schaltbar
 
 
 
Folgende Flugzustände sind damit mit nur einem Poti (3 Stufen-Schalter) schaltbar:
 
> Höhenregler und UserParameter1 auf Poti1:
<50: ACC mit Höhenregler, 50..180: ACC ohne Höhenregler >180: HH ohne Höhenregler
> Höhenregler und GPS auf Poti1:
<50: Position Hold mit Höhenregler, 50..180: GPS free ohne Höhenregler >180: Coming Home mit Höhenregler
> Höhenregler und GPS und UserParameter1 auf Poti1:
<50: Position Hold mit Höhenregler, 50..180: ACC GPS free ohne Höhenregler >180: HH ohne Höhenregler
/branches/FC_V070d_ACC-HH_Umschaltung/Settings_MartinR_ACC-HH_V02/Set_01.mkp
0,0 → 1,75
[Setup]
Name=ACC-HH_HR
IniVersion=1
GlobalConfig=65
[Channels]
Nick=2
Roll=3
Gas=1
Gier=4
Poti_1=5
Poti_2=6
Poti_3=7
Poti_4=8
[Stick]
Nick_Roll-P=10
Nick_Roll-D=0
Gier-P=6
ExternalControl=0
[Altitude]
Setpoint=251
MinGas=30
P=15
Barometric-D=15
Z-ACC-Effect=30
Gain=3
[Gyro]
P=55
I=75
DynamicStability=75
ACC_Gyro-Factor=30
ACC_Gyro-Compensation=32
DriftCompensation=4
Main-I=40
[Others]
MinGas=8
MaxGas=230
Compass-Effect=60
UnderVoltage=94
NotGas=35
NotGasTime=30
[User]
Parameter_1=253
Parameter_2=6
Parameter_3=0
Parameter_4=0
Parameter_5=0
Parameter_6=0
Parameter_7=0
Parameter_8=0
[Camera]
ServoNickControl=100
ServoNickCompensation=40
ServoNickInvert=0
ServoNickMin=50
ServoNickMax=150
ServoNickRefreshRate=5
[Loop]
Config=0
GasLimit=50
StickThreshold=90
LoopHysteresis=50
TurnOverNick=100
TurnOverRoll=100
[Coupling]
YawPosFeedback=90
YawNegFeedback=5
[NaviCtrl]
GPS_ModeControl=254
GPS_Gain=100
GPS_P=85
GPS_I=65
GPS_D=80
GPS_Acc=10
GPS_MinSat=6
GPS_StickThreshold=0
/branches/FC_V070d_ACC-HH_Umschaltung/Settings_MartinR_ACC-HH_V02/Set_02.mkp
0,0 → 1,75
[Setup]
Name=ACC-HH_2
IniVersion=1
GlobalConfig=67
[Channels]
Nick=2
Roll=3
Gas=1
Gier=4
Poti_1=5
Poti_2=6
Poti_3=7
Poti_4=8
[Stick]
Nick_Roll-P=10
Nick_Roll-D=0
Gier-P=6
ExternalControl=0
[Altitude]
Setpoint=254
MinGas=30
P=15
Barometric-D=15
Z-ACC-Effect=30
Gain=3
[Gyro]
P=55
I=75
DynamicStability=75
ACC_Gyro-Factor=30
ACC_Gyro-Compensation=32
DriftCompensation=4
Main-I=40
[Others]
MinGas=8
MaxGas=230
Compass-Effect=60
UnderVoltage=94
NotGas=35
NotGasTime=30
[User]
Parameter_1=253
Parameter_2=6
Parameter_3=0
Parameter_4=0
Parameter_5=0
Parameter_6=0
Parameter_7=0
Parameter_8=0
[Camera]
ServoNickControl=100
ServoNickCompensation=40
ServoNickInvert=0
ServoNickMin=50
ServoNickMax=150
ServoNickRefreshRate=5
[Loop]
Config=0
GasLimit=50
StickThreshold=90
LoopHysteresis=50
TurnOverNick=100
TurnOverRoll=100
[Coupling]
YawPosFeedback=90
YawNegFeedback=5
[NaviCtrl]
GPS_ModeControl=254
GPS_Gain=100
GPS_P=85
GPS_I=60
GPS_D=80
GPS_Acc=10
GPS_MinSat=6
GPS_StickThreshold=0
/branches/FC_V070d_ACC-HH_Umschaltung/Settings_MartinR_ACC-HH_V02/Set_03.mkp
0,0 → 1,75
[Setup]
Name=ACC-HH_3
IniVersion=1
GlobalConfig=67
[Channels]
Nick=2
Roll=3
Gas=1
Gier=4
Poti_1=5
Poti_2=6
Poti_3=7
Poti_4=8
[Stick]
Nick_Roll-P=12
Nick_Roll-D=0
Gier-P=6
ExternalControl=0
[Altitude]
Setpoint=254
MinGas=30
P=15
Barometric-D=15
Z-ACC-Effect=32
Gain=3
[Gyro]
P=55
I=75
DynamicStability=75
ACC_Gyro-Factor=30
ACC_Gyro-Compensation=32
DriftCompensation=4
Main-I=40
[Others]
MinGas=8
MaxGas=230
Compass-Effect=60
UnderVoltage=94
NotGas=35
NotGasTime=30
[User]
Parameter_1=253
Parameter_2=6
Parameter_3=0
Parameter_4=0
Parameter_5=0
Parameter_6=0
Parameter_7=0
Parameter_8=0
[Camera]
ServoNickControl=100
ServoNickCompensation=40
ServoNickInvert=0
ServoNickMin=50
ServoNickMax=150
ServoNickRefreshRate=5
[Loop]
Config=0
GasLimit=50
StickThreshold=90
LoopHysteresis=50
TurnOverNick=100
TurnOverRoll=100
[Coupling]
YawPosFeedback=90
YawNegFeedback=5
[NaviCtrl]
GPS_ModeControl=254
GPS_Gain=100
GPS_P=85
GPS_I=65
GPS_D=80
GPS_Acc=10
GPS_MinSat=6
GPS_StickThreshold=0
/branches/FC_V070d_ACC-HH_Umschaltung/Settings_MartinR_ACC-HH_V02/Set_04.mkp
0,0 → 1,75
[Setup]
Name=HH_1
IniVersion=1
GlobalConfig=4
[Channels]
Nick=2
Roll=3
Gas=1
Gier=4
Poti_1=5
Poti_2=6
Poti_3=7
Poti_4=8
[Stick]
Nick_Roll-P=8
Nick_Roll-D=0
Gier-P=6
ExternalControl=0
[Altitude]
Setpoint=251
MinGas=30
P=15
Barometric-D=15
Z-ACC-Effect=0
Gain=3
[Gyro]
P=55
I=75
DynamicStability=75
ACC_Gyro-Factor=30
ACC_Gyro-Compensation=32
DriftCompensation=0
Main-I=40
[Others]
MinGas=8
MaxGas=230
Compass-Effect=60
UnderVoltage=94
NotGas=35
NotGasTime=30
[User]
Parameter_1=0
Parameter_2=0
Parameter_3=0
Parameter_4=0
Parameter_5=0
Parameter_6=0
Parameter_7=0
Parameter_8=0
[Camera]
ServoNickControl=100
ServoNickCompensation=40
ServoNickInvert=0
ServoNickMin=50
ServoNickMax=150
ServoNickRefreshRate=5
[Loop]
Config=0
GasLimit=50
StickThreshold=90
LoopHysteresis=50
TurnOverNick=100
TurnOverRoll=100
[Coupling]
YawPosFeedback=90
YawNegFeedback=5
[NaviCtrl]
GPS_ModeControl=100
GPS_Gain=100
GPS_P=90
GPS_I=70
GPS_D=80
GPS_Acc=0
GPS_MinSat=6
GPS_StickThreshold=0
/branches/FC_V070d_ACC-HH_Umschaltung/Settings_MartinR_ACC-HH_V02/Set_05.mkp
0,0 → 1,75
[Setup]
Name=HH_2
IniVersion=1
GlobalConfig=4
[Channels]
Nick=2
Roll=3
Gas=1
Gier=4
Poti_1=5
Poti_2=6
Poti_3=7
Poti_4=8
[Stick]
Nick_Roll-P=9
Nick_Roll-D=0
Gier-P=6
ExternalControl=0
[Altitude]
Setpoint=251
MinGas=30
P=15
Barometric-D=15
Z-ACC-Effect=0
Gain=3
[Gyro]
P=55
I=75
DynamicStability=75
ACC_Gyro-Factor=30
ACC_Gyro-Compensation=32
DriftCompensation=4
Main-I=40
[Others]
MinGas=8
MaxGas=230
Compass-Effect=60
UnderVoltage=94
NotGas=35
NotGasTime=30
[User]
Parameter_1=0
Parameter_2=0
Parameter_3=0
Parameter_4=0
Parameter_5=0
Parameter_6=0
Parameter_7=0
Parameter_8=0
[Camera]
ServoNickControl=100
ServoNickCompensation=40
ServoNickInvert=0
ServoNickMin=50
ServoNickMax=150
ServoNickRefreshRate=5
[Loop]
Config=0
GasLimit=50
StickThreshold=90
LoopHysteresis=50
TurnOverNick=100
TurnOverRoll=100
[Coupling]
YawPosFeedback=90
YawNegFeedback=5
[NaviCtrl]
GPS_ModeControl=100
GPS_Gain=100
GPS_P=90
GPS_I=70
GPS_D=80
GPS_Acc=0
GPS_MinSat=6
GPS_StickThreshold=0
/branches/FC_V070d_ACC-HH_Umschaltung/fc.c
247,7 → 247,7
if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag
if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
// Kopplungsanteil +++++++++++++++++++++++++++++++++++++
if((EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) || (Parameter_UserParam1 > 50)) IntegralFaktor = 0; // Doppelt ?? MartinR
if((EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) || (Parameter_UserParam1 > 180)) IntegralFaktor = 0; // Doppelt ?? MartinR
 
if(!Looping_Nick && !Looping_Roll && IntegralFaktor && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV))
{
660,7 → 660,7
ParameterZuordnung();
if(Parameter_UserParam1 > 50) // MartinR: zweiter Stick_P Wert nur, wenn HH über Schalter aktiv ist
if(Parameter_UserParam1 > 180) // MartinR: zweiter Stick_P Wert nur, wenn HH über Schalter aktiv ist
{
stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * Parameter_UserParam2 - stick_nick_neutral) / 4;
stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * Parameter_UserParam2 - stick_roll_neutral) / 4 ;
756,7 → 756,7
//IntegralFaktor_Gier = ((float) Parameter_UserParam3) / (44000 / STICK_GAIN); // MartinR
// if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0;
if((EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) || (Parameter_UserParam1 > 50)) IntegralFaktor = 0; // Doppelt!? Doppel wieder aktiviert, da Impuls beim Umschalten. MartinR
if((EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) || (Parameter_UserParam1 > 180)) IntegralFaktor = 0; // Doppelt!? Doppel wieder aktiviert, da Impuls beim Umschalten. MartinR
 
if(GyroFaktor < 0) GyroFaktor = 0;
if(IntegralFaktor < 0) IntegralFaktor = 0;
1228,12 → 1228,13
GasMischanteil *= STICK_GAIN;
 
 
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Parameter_UserParam1 > 50)) // Höhenregelung // MartinR: Höhenregelung bei HH abschalten
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Parameter_UserParam1 > 180)) // Höhenregelung // MartinR: Höhenregelung bei HH abschalten
{
int tmp_int;
if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert
{
if(Parameter_MaxHoehe < 50)
// if(Parameter_MaxHoehe < 50) // so war es
if (((50 < Parameter_MaxHoehe) && (Parameter_MaxHoehe < 180)) || !IntegralFaktor) // if (Parameter_MaxHoehe 50..180)
{
SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters
HoehenReglerAktiv = 0;
/branches/FC_V070d_ACC-HH_Umschaltung/version.txt
165,4 → 165,10
- GyroFaktor I ist nun ausschließlich der I-Faktor im ACC-Mode.
- Main I ist nun ausschließlich der I-Faktor im HH-Mode.
- HH-Mode wurde reduziert auf die Regler-Grundfunktionen!
keine Driftkompensation, Gierfunktion nur mit P-Regler, keine GPS- oder Kompass Funktion.
keine Driftkompensation, Gierfunktion nur mit P-Regler, keine GPS- oder Kompass Funktion.
V0.70d_HH_v02 MartinR 28.10.2008
- Umschaltpunkt auf HH über UserParameter1 wurde auf >180 geändert
- Höhenregler ist in Mittelstellung (50..180) aus, dadurch zusammen mit GPS schaltbar
> Höhenregler und UserParameter auf Poti1: <50: ACC mit Höhenregler, 50..180: ACC ohne Höhenregler >180: HH ohne Höhenregler
> Höhenregler und GPS auf Poti1: <50: Position Hold mit Höhenregler, 50..180: GPS free ohne Höhenregler >180: Coming Home mit Höhenregler