| 6,14 → 6,14 |
|---|
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| 24,21 → 24,21 |
|---|
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| 49,1187 → 49,1385 |
|---|
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| |
| #include "main.h" |
| #include "eeprom.c" |
| #include "eeprom.h" |
| #include "timer0.h" |
| #include "_Settings.h" |
| #include "analog.h" |
| #include "fc.h" |
| #include "uart.h" |
| #include "rc.h" |
| #include "twimaster.h" |
| #include "timer2.h" |
| #ifdef USE_KILLAGREG |
| #include "mm3.h" |
| #include "gps.h" |
| #endif |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| #include "mk3mag.h" |
| #endif |
| #include "led.h" |
| |
| unsigned char h,m,s; |
| volatile unsigned int I2CTimeout = 100; |
| volatile int MesswertNick,MesswertRoll,MesswertGier; |
| volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| volatile uint16_t I2CTimeout = 100; |
| // gyro readings |
| volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
| // gyro neutral readings |
| volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
| volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
| // mean accelerations |
| volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
| |
| // neutral acceleration readings |
| volatile int16_t NeutralAccX=0, NeutralAccY=0; |
| volatile float NeutralAccZ = 0; |
| unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| long IntegralNick = 0,IntegralNick2 = 0; |
| long IntegralRoll = 0,IntegralRoll2 = 0; |
| long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
| long Integral_Gier = 0; |
| long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
| volatile long Mess_Integral_Hoch = 0; |
| volatile int KompassValue = 0; |
| volatile int KompassStartwert = 0; |
| volatile int KompassRichtung = 0; |
| unsigned int KompassSignalSchlecht = 500; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char Notlandung = 0; |
| unsigned char HoehenReglerAktiv = 0; |
| unsigned char TrichterFlug = 0; |
| long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| long ErsatzKompass; |
| int ErsatzKompassInGrad; // Kompasswert in Grad |
| int GierGyroFehler = 0; |
| float GyroFaktor; |
| float IntegralFaktor; |
| volatile int DiffNick,DiffRoll; |
| int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| volatile unsigned char SenderOkay = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| char MotorenEin = 0; |
| int HoehenWert = 0; |
| int SollHoehe = 0; |
| int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| float Ki = FAKTOR_I; |
| unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| |
| unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| unsigned char Parameter_UserParam1 = 0; |
| unsigned char Parameter_UserParam2 = 0; |
| unsigned char Parameter_UserParam3 = 0; |
| unsigned char Parameter_UserParam4 = 0; |
| unsigned char Parameter_UserParam5 = 0; |
| unsigned char Parameter_UserParam6 = 0; |
| unsigned char Parameter_UserParam7 = 0; |
| unsigned char Parameter_UserParam8 = 0; |
| unsigned char Parameter_ServoNickControl = 100; |
| unsigned char Parameter_LoopGasLimit = 70; |
| unsigned char Parameter_AchsKopplung1 = 0; |
| unsigned char Parameter_AchsGegenKopplung1 = 0; |
| unsigned char Parameter_DynamicStability = 100; |
| struct mk_param_struct EE_Parameter; |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| int MaxStickNick = 0,MaxStickRoll = 0; |
| unsigned int modell_fliegt = 0; |
| // attitude gyro integrals |
| volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
| volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
| volatile int32_t IntegralYaw = 0; |
| volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
| volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
| volatile int32_t Reading_IntegralGyroYaw = 0; |
| volatile int32_t MeanIntegralPitch; |
| volatile int32_t MeanIntegralRoll; |
| |
| void Piep(unsigned char Anzahl) |
| // attitude acceleration integrals |
| volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
| volatile int32_t Reading_Integral_Top = 0; |
| |
| // compass course |
| volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
| volatile int16_t CompassCourse = -1; |
| volatile int16_t CompassOffCourse = 0; |
| volatile uint8_t CompassCalState = 0; |
| uint8_t FunnelCourse = 0; |
| uint16_t BadCompassHeading = 500; |
| int32_t YawGyroHeading; |
| int16_t YawGyroDrift; |
| |
| |
| int16_t NaviAccPitch = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
| |
| |
| // flags |
| uint8_t MotorsOn = 0; |
| uint8_t EmergencyLanding = 0; |
| uint16_t Model_Is_Flying = 0; |
| |
| int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
| |
| float Gyro_P_Factor; |
| float Gyro_I_Factor; |
| |
| volatile int16_t DiffPitch, DiffRoll; |
| |
| int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| |
| // setpoints for motors |
| volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
| |
| // stick values derived by rc channels readings |
| int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
| int16_t GPS_Pitch = 0, GPS_Roll = 0; |
| |
| int16_t MaxStickPitch = 0, MaxStickRoll = 0; |
| // stick values derived by uart inputs |
| int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
| |
| |
| |
| |
| int16_t ReadingHeight = 0; |
| int16_t SetPointHeight = 0; |
| |
| int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
| |
| float Ki = FACTOR_I; |
| |
| uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
| uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
| |
| |
| fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100}; |
| |
| |
| /************************************************************************/ |
| /* Creates numbeeps beeps at the speaker */ |
| /************************************************************************/ |
| void Beep(uint8_t numbeeps) |
| { |
| while(Anzahl--) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| beeptime = 100; |
| Delay_ms(250); |
| } |
| while(numbeeps--) |
| { |
| if(MotorsOn) return; //auf keinen Fall im Flug! |
| BeepTime = 100; // 0.1 second |
| Delay_ms(250); // blocks 250 ms as pause to next beep, |
| // this will block the flight control loop, |
| // therefore do not use this funktion if motors are running |
| } |
| } |
| |
| //############################################################################ |
| // Nullwerte ermitteln |
| /************************************************************************/ |
| /* Neutral Readings */ |
| /************************************************************************/ |
| void SetNeutral(void) |
| //############################################################################ |
| { |
| NeutralAccX = 0; |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| Parameter_AchsKopplung1 = 0; |
| Parameter_AchsGegenKopplung1 = 0; |
| CalibrierMittelwert(); |
| AdNeutralPitch = 0; |
| AdNeutralRoll = 0; |
| AdNeutralYaw = 0; |
| FCParam.Yaw_PosFeedback = 0; |
| FCParam.Yaw_NegFeedback = 0; |
| CalibMean(); |
| Delay_ms_Mess(100); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| |
| AdNeutralNick= AdWertNick; |
| AdNeutralRoll= AdWertRoll; |
| AdNeutralGier= AdWertGier; |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralNick = AdNeutralNick; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| CalibMean(); |
| if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
| { |
| NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| NeutralAccZ = Aktuell_az; |
| if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
| } |
| else |
| AdNeutralPitch = AdValueGyrPitch; |
| AdNeutralRoll = AdValueGyrRoll; |
| AdNeutralYaw = AdValueGyrYaw; |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralPitch = AdNeutralPitch; |
| if(GetParamWord(PID_ACC_PITCH) > 1023) |
| { |
| NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]); |
| NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]); |
| NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]); |
| NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
| NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
| NeutralAccZ = Current_AccZ; |
| } |
| |
| Mess_IntegralNick = 0; |
| Mess_IntegralNick2 = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralRoll2 = 0; |
| Mess_Integral_Gier = 0; |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| StartLuftdruck = Luftdruck; |
| HoeheD = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| GPS_Neutral(); |
| beeptime = 50; |
| Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
| ExternHoehenValue = 0; |
| ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| GierGyroFehler = 0; |
| SendVersionToNavi = 1; |
| else |
| { |
| NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
| NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
| NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
| } |
| Reading_IntegralGyroPitch = 0; |
| Reading_IntegralGyroPitch2 = 0; |
| Reading_IntegralGyroRoll = 0; |
| Reading_IntegralGyroRoll2 = 0; |
| Reading_IntegralGyroYaw = 0; |
| Reading_GyroPitch = 0; |
| Reading_GyroRoll = 0; |
| Reading_GyroYaw = 0; |
| StartAirPressure = AirPressure; |
| HeightD = 0; |
| Reading_Integral_Top = 0; |
| CompassCourse = CompassHeading; |
| BeepTime = 50; |
| TurnOver180Pitch = ((int32_t) ParamSet.AngleTurnOverPitch * 2500L) +15000L; |
| TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
| ExternHeightValue = 0; |
| GPS_Pitch = 0; |
| GPS_Roll = 0; |
| YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR; |
| YawGyroDrift = 0; |
| } |
| |
| //############################################################################ |
| // Bearbeitet die Messwerte |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| static signed long tmpl,tmpl2; |
| MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| MesswertRoll = (signed int) AdWertRoll - AdNeutralRoll; |
| MesswertNick = (signed int) AdWertNick - AdNeutralNick; |
| /************************************************************************/ |
| /* Averaging Measurement Readings */ |
| /************************************************************************/ |
| void Mean(void) |
| { |
| static int32_t tmpl,tmpl2; |
| |
| //DebugOut.Analog[26] = MesswertNick; |
| DebugOut.Analog[28] = MesswertRoll; |
| // Get offset corrected gyro readings (~ to angular velocity) |
| Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
| Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
| Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
| |
| // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 2L; |
| Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 2L; |
| Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdWertAccHoch)) / 2L; |
| IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
| NaviAccNick += AdWertAccNick; |
| NaviAccRoll += AdWertAccRoll; |
| // Acceleration Sensor |
| // sliding average sensor readings |
| Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
| Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
| Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
| |
| // sum sensor readings for later averaging |
| IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
| IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
| |
| NaviAccPitch += AdValueAccPitch; |
| NaviAccRoll += AdValueAccRoll; |
| NaviCntAcc++; |
| IntegralAccZ += Aktuell_az - NeutralAccZ; |
| // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| ErsatzKompass += MesswertGier; |
| Mess_Integral_Gier += MesswertGier; |
| Mess_Integral_Gier2 += MesswertGier; |
| if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
| if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
| // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
| { |
| tmpl = (MesswertGier * Mess_IntegralNick) / 2048L; |
| tmpl *= Parameter_AchsKopplung1; //125 |
| tmpl /= 4096L; |
| tmpl2 = (MesswertGier * Mess_IntegralRoll) / 2048L; |
| tmpl2 *= Parameter_AchsKopplung1; |
| tmpl2 /= 4096L; |
| if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| } |
| else tmpl = tmpl2 = 0; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertRoll += tmpl; |
| MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
| Mess_IntegralRoll2 += MesswertRoll; |
| Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
| if(Mess_IntegralRoll > Umschlag180Roll) |
| { |
| Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(Mess_IntegralRoll <-Umschlag180Roll) |
| { |
| Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(AdWertRoll < 15) MesswertRoll = -1000; |
| if(AdWertRoll < 7) MesswertRoll = -2000; |
| if(PlatinenVersion == 10) |
| { |
| if(AdWertRoll > 1010) MesswertRoll = +1000; |
| if(AdWertRoll > 1017) MesswertRoll = +2000; |
| } |
| else |
| { |
| if(AdWertRoll > 2020) MesswertRoll = +1000; |
| if(AdWertRoll > 2034) MesswertRoll = +2000; |
| } |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertNick -= tmpl2; |
| MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
| Mess_IntegralNick2 += MesswertNick; |
| Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
| |
| if(Mess_IntegralNick > Umschlag180Nick) |
| { |
| Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(Mess_IntegralNick <-Umschlag180Nick) |
| { |
| Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(AdWertNick < 15) MesswertNick = -1000; |
| if(AdWertNick < 7) MesswertNick = -2000; |
| if(PlatinenVersion == 10) |
| { |
| if(AdWertNick > 1010) MesswertNick = +1000; |
| if(AdWertNick > 1017) MesswertNick = +2000; |
| } |
| else |
| { |
| if(AdWertNick > 2020) MesswertNick = +1000; |
| if(AdWertNick > 2034) MesswertNick = +2000; |
| } |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ADC einschalten |
| ANALOG_ON; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Yaw |
| // calculate yaw gyro integral (~ to rotation angle) |
| Reading_IntegralGyroYaw += Reading_GyroYaw; |
| YawGyroHeading += Reading_GyroYaw; |
| if(YawGyroHeading >= (360L * YAW_GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * YAW_GYRO_DEG_FACTOR; // 360° Wrap |
| if(YawGyroHeading < 0) YawGyroHeading += 360L * YAW_GYRO_DEG_FACTOR; |
| |
| Integral_Gier = Mess_Integral_Gier; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| |
| if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
| { |
| if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| } |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| // Coupling fraction |
| if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
| { |
| tmpl = (Reading_GyroYaw * Reading_IntegralGyroPitch) / 2048L; |
| tmpl *= FCParam.Yaw_PosFeedback; |
| tmpl /= 4096L; |
| tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L; |
| tmpl2 *= FCParam.Yaw_PosFeedback; |
| tmpl2 /= 4096L; |
| if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
| } |
| else tmpl = tmpl2 = 0; |
| |
| // Roll |
| Reading_GyroRoll += tmpl; |
| Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; |
| Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
| Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
| if(Reading_IntegralGyroRoll > TurnOver180Roll) |
| { |
| Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
| Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| } |
| if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
| { |
| Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
| Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| } |
| if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
| if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
| if(BoardRelease == 10) |
| { |
| if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
| if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
| } |
| else |
| { |
| if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
| if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
| } |
| // Pitch |
| Reading_GyroPitch -= tmpl2; |
| Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
| Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
| Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
| if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
| { |
| Reading_IntegralGyroPitch = -(TurnOver180Pitch - 25000L); |
| Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| } |
| if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
| { |
| Reading_IntegralGyroPitch = (TurnOver180Pitch - 25000L); |
| Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| } |
| if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
| if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
| if(BoardRelease == 10) |
| { |
| if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
| if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
| } |
| else |
| { |
| if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
| if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
| } |
| |
| // start ADC again to capture measurement values for the next loop |
| ADC_Enable(); |
| |
| IntegralYaw = Reading_IntegralGyroYaw; |
| IntegralPitch = Reading_IntegralGyroPitch; |
| IntegralRoll = Reading_IntegralGyroRoll; |
| IntegralPitch2 = Reading_IntegralGyroPitch2; |
| IntegralRoll2 = Reading_IntegralGyroRoll2; |
| |
| if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
| { |
| if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
| else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
| if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
| else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
| } |
| } |
| |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| MesswertNick = AdWertNick; |
| MesswertRoll = AdWertRoll; |
| MesswertGier = AdWertGier; |
| Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
| Mittelwert_AccHoch = (long)AdWertAccHoch; |
| // ADC einschalten |
| ANALOG_ON; |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| /************************************************************************/ |
| /* Averaging Measurement Readings for Calibration */ |
| /************************************************************************/ |
| void CalibMean(void) |
| { |
| // stop ADC to avoid changing values during calculation |
| ADC_Disable(); |
| |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| Reading_GyroPitch = AdValueGyrPitch; |
| Reading_GyroRoll = AdValueGyrRoll; |
| Reading_GyroYaw = AdValueGyrYaw; |
| |
| Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
| Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
| Mean_AccTop = (int32_t)AdValueAccTop; |
| // start ADC (enables internal trigger so that the ISR in analog.c |
| // updates the readings once) |
| ADC_Enable(); |
| |
| TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| } |
| |
| //############################################################################ |
| // Senden der Motorwerte per I2C-Bus |
| /************************************************************************/ |
| /* Transmit Motor Data via I2C */ |
| /************************************************************************/ |
| void SendMotorData(void) |
| //############################################################################ |
| { |
| if(MOTOR_OFF || !MotorenEin) |
| { |
| Motor_Hinten = 0; |
| Motor_Vorne = 0; |
| Motor_Rechts = 0; |
| Motor_Links = 0; |
| if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| } |
| { |
| if(MOTOR_OFF || !MotorsOn) |
| { |
| Motor_Rear = 0; |
| Motor_Front = 0; |
| Motor_Right = 0; |
| Motor_Left = 0; |
| if(MotorTest[0]) Motor_Front = MotorTest[0]; |
| if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
| if(MotorTest[2]) Motor_Left = MotorTest[2]; |
| if(MotorTest[3]) Motor_Right = MotorTest[3]; |
| } |
| |
| DebugOut.Analog[12] = Motor_Vorne; |
| DebugOut.Analog[13] = Motor_Hinten; |
| DebugOut.Analog[14] = Motor_Links; |
| DebugOut.Analog[15] = Motor_Rechts; |
| DebugOut.Analog[12] = Motor_Front; |
| DebugOut.Analog[13] = Motor_Rear; |
| DebugOut.Analog[14] = Motor_Left; |
| DebugOut.Analog[15] = Motor_Right; |
| |
| //Start I2C Interrupt Mode |
| twi_state = 0; |
| motor = 0; |
| i2c_start(); |
| I2C_Start(); |
| } |
| |
| |
| |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| //############################################################################ |
| /************************************************************************/ |
| /* Maps the parameter to poti values */ |
| /************************************************************************/ |
| void ParameterMapping(void) |
| { |
| if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
| // else the last updated values are used |
| { |
| //update poti values by rc-signals |
| #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
| CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
| CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
| CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
| CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
| CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
| CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
| CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
| CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
| CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
| CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
| CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
| CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
| CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
| CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
| CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
| CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
| CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
| CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
| CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
| CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
| Ki = (float) FCParam.I_Factor * FACTOR_I; |
| } |
| } |
| |
| #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
| CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
| CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
| CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
| CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
| CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
| CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
| |
| Ki = (float) Parameter_I_Faktor * 0.0001; |
| MAX_GAS = EE_Parameter.Gas_Max; |
| MIN_GAS = EE_Parameter.Gas_Min; |
| void SetCompassCalState(void) |
| { |
| static uint8_t stick = 1; |
| |
| // if pitch is centered or top set stick to zero |
| if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -20) stick = 0; |
| // if pitch is down trigger to next cal state |
| if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70) && !stick) |
| { |
| stick = 1; |
| CompassCalState++; |
| if(CompassCalState < 5) Beep(CompassCalState); |
| else BeepTime = 1000; |
| } |
| } |
| |
| |
| |
| |
| //############################################################################ |
| // |
| void MotorRegler(void) |
| //############################################################################ |
| /************************************************************************/ |
| /* MotorControl */ |
| /************************************************************************/ |
| void MotorControl(void) |
| { |
| int motorwert,pd_ergebnis,h,tmp_int; |
| int GierMischanteil,GasMischanteil; |
| static long SummeNick=0,SummeRoll=0; |
| static long sollGier = 0,tmp_long,tmp_long2; |
| static long IntegralFehlerNick = 0; |
| static long IntegralFehlerRoll = 0; |
| static unsigned int RcLostTimer; |
| static unsigned char delay_neutral = 0; |
| static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| static int hoehenregler = 0; |
| static char TimerWerteausgabe = 0; |
| static char NeueKompassRichtungMerken = 0; |
| static long ausgleichNick, ausgleichRoll; |
| |
| Mittelwert(); |
| int16_t MotorValue, pd_result, h, tmp_int; |
| int16_t YawMixFraction, ThrustMixFraction; |
| static int32_t SumPitch = 0, SumRoll = 0; |
| static int32_t SetPointYaw = 0; |
| static int32_t IntegralErrorPitch = 0; |
| static int32_t IntegralErrorRoll = 0; |
| static uint16_t RcLostTimer; |
| static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
| static uint8_t HeightControlActive = 0; |
| static int16_t HeightControlThrust = 0; |
| static int8_t TimerDebugOut = 0; |
| static uint16_t UpdateCompassCourse = 0; |
| static int32_t CorrectionPitch, CorrectionRoll; |
| |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = StickGas; |
| if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Empfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100) |
| { |
| if(!PcZugriff) |
| { |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 15000; |
| BeepMuster = 0x0c00; |
| } |
| } |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| Notlandung = 0; |
| } |
| ROT_ON; |
| if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = EE_Parameter.NotGas; |
| Notlandung = 1; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| } |
| else MotorenEin = 0; |
| } |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang gut |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay > 140) |
| { |
| Notlandung = 0; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| } |
| if((modell_fliegt < 256)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| if(modell_fliegt == 250) NeueKompassRichtungMerken = 1; |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| { |
| unsigned char setting=1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| } |
| // else |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 20 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| { |
| WinkelOut.CalcState = 1; |
| beeptime = 1000; |
| } |
| else |
| { |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| SetNeutral(); |
| Piep(GetActiveParamSetNumber()); |
| } |
| } |
| } |
| else |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| SetNeutral(); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
| Piep(GetActiveParamSetNumber()); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| { |
| // Starten |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(++delay_einschalten > 200) |
| { |
| delay_einschalten = 200; |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| } |
| } |
| else delay_einschalten = 0; |
| //Auf Neutralwerte setzen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| { |
| if(++delay_ausschalten > 200) // nicht sofort |
| { |
| MotorenEin = 0; |
| delay_ausschalten = 200; |
| modell_fliegt = 0; |
| } |
| } |
| else delay_ausschalten = 0; |
| } |
| } |
| Mean(); |
| GRN_ON; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || Notlandung) |
| { |
| int tmp_int; |
| static int stick_nick,stick_roll; |
| ParameterZuordnung(); |
| stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| StickNick = stick_nick - (GPS_Nick + GPS_Nick2); |
| // StickNick = (StickNick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // determine thrust value |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| ThrustMixFraction = StickThrust; |
| if(ThrustMixFraction < ParamSet.Trust_Min + 10) ThrustMixFraction = ParamSet.Trust_Min + 10; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // RC-signal is bad |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
| { |
| if(!PcAccess) // if also no PC-Access via UART |
| { |
| if(BeepModulation == 0xFFFF) |
| { |
| BeepTime = 15000; // 1.5 seconds |
| BeepModulation = 0x0C00; |
| } |
| } |
| if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
| else // rc lost countdown finished |
| { |
| MotorsOn = 0; // stop all motors |
| EmergencyLanding = 0; // emergency landing is over |
| } |
| ROT_ON; // set red led |
| if(Model_Is_Flying > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
| EmergencyLanding = 1; // enable emergency landing |
| // set neutral rc inputs |
| PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
| PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
| PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
| PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
| PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
| PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
| } |
| else MotorsOn = 0; // switch of all motors |
| } // eof RC_Quality < 120 |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // RC-signal is good |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(RC_Quality > 140) |
| { |
| EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
| // reset emergency timer |
| RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
| if(ThrustMixFraction > 40) |
| { |
| if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
| } |
| if(Model_Is_Flying < 256) |
| { |
| SumPitch = 0; |
| SumRoll = 0; |
| StickYaw = 0; |
| if(Model_Is_Flying == 250) UpdateCompassCourse = 1; |
| } |
| |
| stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| StickRoll = stick_roll - (GPS_Roll + GPS_Roll2); |
| if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
| //PPM24-Extension |
| if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| //limit poti values |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| //PPM24-Extension |
| if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| |
| // StickRoll = (StickRoll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| // if motors are off and the thrust stick is in the upper position |
| if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
| { |
| // and if the yaw stick is in the leftmost position |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // calibrate the neutral readings of all attitude sensors |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| { |
| // thrust/yaw joystick is top left |
| // _________ |
| // |x | |
| // | | |
| // | | |
| // | | |
| // | | |
| // ¯¯¯¯¯¯¯¯¯ |
| if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_neutral = 0; |
| GRN_OFF; |
| Model_Is_Flying = 0; |
| // check roll/pitch stick position |
| // if pitch stick is top or roll stick is left or right --> change parameter setting |
| // according to roll/pitch stick position |
| if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
| { |
| uint8_t setting = 1; // default |
| // pitch/roll joystick |
| // _________ |
| // |2 3 4| |
| // | | |
| // |1 5| |
| // | | |
| // | | |
| // ¯¯¯¯¯¯¯¯¯ |
| // roll stick leftmost and pitch stick centered --> setting 1 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
| // roll stick leftmost and pitch stick topmost --> setting 2 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
| // roll stick centered an pitch stick topmost --> setting 3 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
| // roll stick rightmost and pitch stick topmost --> setting 4 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
| // roll stick rightmost and pitch stick centered --> setting 5 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
| // update active parameter set in eeprom |
| SetActiveParamSet(setting); |
| ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| SetNeutral(); |
| Beep(GetActiveParamSet()); |
| } |
| else |
| { |
| if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
| { |
| // if roll stick is centered and pitch stick is down |
| if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 20 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70) |
| { |
| // pitch/roll joystick |
| // _________ |
| // | | |
| // | | |
| // | | |
| // | | |
| // | x | |
| // ¯¯¯¯¯¯¯¯¯ |
| // enable calibration state of compass |
| CompassCalState = 1; |
| BeepTime = 1000; |
| } |
| else // pitch and roll are centered |
| { |
| ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| SetNeutral(); |
| Beep(GetActiveParamSet()); |
| } |
| } |
| else // pitch and roll are centered |
| { |
| ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| SetNeutral(); |
| Beep(GetActiveParamSet()); |
| } |
| } |
| } |
| } |
| // and if the yaw stick is in the rightmost position |
| // save the ACC neutral setting to eeprom |
| else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
| { |
| if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_neutral = 0; |
| GRN_OFF; |
| SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
| Model_Is_Flying = 0; |
| SetNeutral(); |
| // Save ACC neutral settings to eeprom |
| SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
| SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
| SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
| Beep(GetActiveParamSet()); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // thrust stick is down |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // and yaw stick is rightmost --> start motors |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
| { |
| if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_startmotors = 200; // do not repeat if once executed |
| Model_Is_Flying = 1; |
| MotorsOn = 1; |
| SetPointYaw = 0; |
| Reading_IntegralGyroYaw = 0; |
| Reading_IntegralGyroPitch = 0; |
| Reading_IntegralGyroRoll = 0; |
| Reading_IntegralGyroPitch2 = IntegralPitch; |
| Reading_IntegralGyroRoll2 = IntegralRoll; |
| SumPitch = 0; |
| SumRoll = 0; |
| #ifdef USE_KILLAGREG |
| if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| { |
| GPS_SetHomePosition(); |
| } |
| #endif |
| } |
| } |
| else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // and yaw stick is leftmost --> stop motors |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
| { |
| if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_stopmotors = 200; // do not repeat if once executed |
| Model_Is_Flying = 0; |
| MotorsOn = 0; |
| #ifdef USE_KILLAGREG |
| if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| { |
| GPS_ClearHomePosition(); |
| } |
| #endif |
| } |
| } |
| else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
| } |
| // remapping of paameters only if the signal rc-sigbnal conditions are good |
| } // eof RC_Quality > 150 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // new values from RC |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
| { |
| int tmp_int; |
| ParameterMapping(); // remapping params (online poti replacement) |
| // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
| StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
| StickPitch -= (GPS_Pitch); |
| |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
| StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
| StickRoll -= (GPS_Roll); |
| |
| /* if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]) > MaxStickNick) |
| MaxStickNick = abs(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]); else MaxStickNick--; |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > MaxStickRoll) |
| MaxStickRoll = abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); else MaxStickRoll--; |
| */ |
| GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / (256.0/STICK_GAIN); |
| IntegralFaktor = ((float) Parameter_Gyro_I) / (44000 / STICK_GAIN); |
| // direct mapping of yaw and thrust |
| StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
| StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
| |
| // update gyro control loop factors |
| Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN); |
| Gyro_I_Factor = ((float) FCParam.Gyro_I) / (44000 / STICK_GAIN); |
| |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Digitale Steuerung per DubWise |
| // Digital Control via DubWise |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define KEY_VALUE (Parameter_UserParam8 * 4) //(Poti3 * 8) |
| if(DubWiseKeys[1]) beeptime = 10; |
| if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
| if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
| ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
| if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
| if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
| ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
| |
| if(DubWiseKeys[0] & 8) ExternStickGier = 50;else |
| if(DubWiseKeys[0] & 4) ExternStickGier =-50;else ExternStickGier = 0; |
| if(DubWiseKeys[0] & 2) ExternHoehenValue++; |
| if(DubWiseKeys[0] & 16) ExternHoehenValue--; |
| #define KEY_VALUE (FCParam.UserParam8 * 4) // step width |
| if(DubWiseKeys[1]) BeepTime = 10; |
| if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
| else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
| else tmp_int = 0; |
| ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
| if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
| else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
| else tmp_int = 0; |
| ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
| |
| StickNick += (STICK_GAIN * ExternStickNick) / 8; |
| StickRoll += (STICK_GAIN * ExternStickRoll) / 8; |
| StickGier += STICK_GAIN * ExternStickGier; |
| if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
| if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
| if(DubWiseKeys[0] & 2) ExternHeightValue++; |
| if(DubWiseKeys[0] & 16) ExternHeightValue--; |
| |
| StickPitch += (STICK_GAIN * ExternStickPitch) / 8; |
| StickRoll += (STICK_GAIN * ExternStickRoll) / 8; |
| StickYaw += (STICK_GAIN * ExternStickYaw); |
| |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Analoge Steuerung per Seriell |
| //+ Analog control via serial communication |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ExternControl.Config & 0x01 && Parameter_UserParam8 > 128) |
| { |
| StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
| StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
| StickGier += ExternControl.Gier; |
| ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
| if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
| } |
| if(StickGas < 0) StickGas = 0; |
| |
| if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(GyroFaktor < 0) GyroFaktor = 0; |
| if(IntegralFaktor < 0) IntegralFaktor = 0; |
| if(ExternControl.Config & 0x01 && FCParam.UserParam8 > 128) |
| { |
| StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
| StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
| StickYaw += ExternControl.Yaw; |
| ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
| if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
| } |
| if(StickThrust < 0) StickThrust = 0; |
| |
| if(abs(StickNick/STICK_GAIN) > MaxStickNick) MaxStickNick = abs(StickNick)/STICK_GAIN; else MaxStickNick--; |
| if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll)/STICK_GAIN; else MaxStickRoll--; |
| if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
| // disable I part of gyro control feedback |
| if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
| // avoid negative scaling factors |
| if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
| if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| // update max stick positions for pitch and roll |
| |
| if(abs(StickPitch / STICK_GAIN) > MaxStickPitch) MaxStickPitch = abs(StickPitch)/STICK_GAIN; |
| else MaxStickPitch--; |
| if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| else MaxStickRoll--; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| else |
| { |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| else |
| { |
| if(Looping_Rechts) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| else |
| { |
| if(Looping_Oben) // Hysterese |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| else |
| { |
| if(Looping_Unten) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
| } |
| } |
| if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
| else |
| { |
| if(Looping_Left) // Hysteresis |
| { |
| if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
| } |
| } |
| if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
| else |
| { |
| if(Looping_Right) // Hysteresis |
| { |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
| } |
| } |
| |
| if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| } // Ende neue Funken-Werte |
| if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
| else |
| { |
| if(Looping_Top) // Hysteresis |
| { |
| if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
| } |
| } |
| if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
| else |
| { |
| if(Looping_Down) // Hysteresis |
| { |
| if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
| } |
| } |
| |
| if(Looping_Roll) beeptime = 100; |
| if(Looping_Roll || Looping_Nick) |
| { |
| if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| } |
| |
| if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
| } // End of new RC-Values or Emergency Landing |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Notlandung) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = (float) 100 / (256.0 / STICK_GAIN); |
| IntegralFaktor = (float) 120 / (44000 / STICK_GAIN); |
| Looping_Roll = 0; |
| Looping_Nick = 0; |
| } |
| |
| if(Looping_Roll) BeepTime = 100; |
| if(Looping_Roll || Looping_Pitch) |
| { |
| if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ABGLEICH_ANZAHL 256L |
| |
| MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
| MittelIntegralRoll += IntegralRoll; |
| MittelIntegralNick2 += IntegralNick2; |
| MittelIntegralRoll2 += IntegralRoll2; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ LED Control on J16/J17 |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| LED1_Time = FCParam.UserParam7; |
| LED2_Time = FCParam.UserParam8; |
| LED_Update(); |
| |
| if(Looping_Nick || Looping_Roll) |
| { |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| ZaehlMessungen = 0; |
| LageKorrekturNick = 0; |
| LageKorrekturRoll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // in case of emergency landing |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // set all inputs to save values |
| if(EmergencyLanding) |
| { |
| StickYaw = 0; |
| StickPitch = 0; |
| StickRoll = 0; |
| Gyro_P_Factor = (float) 100 / (256.0 / STICK_GAIN); |
| Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN); |
| Looping_Roll = 0; |
| Looping_Pitch = 0; |
| MaxStickPitch = 0; |
| MaxStickRoll = 0; |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll) |
| { |
| long tmp_long, tmp_long2; |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long /= 16; |
| tmp_long2 /= 16; |
| if((MaxStickNick > 32) || (MaxStickRoll > 32)) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Trim Gyro-Integrals to ACC-Signals |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #define AUSGLEICH 32 |
| if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| #define BALANCE_NUMBER 256L |
| // sum for averaging |
| MeanIntegralPitch += IntegralPitch; |
| MeanIntegralRoll += IntegralRoll; |
| |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Looping_Pitch || Looping_Roll) // if looping in any direction |
| { |
| // reset averaging for acc and gyro integral as well as gyro integral acc correction |
| MeasurementCounter = 0; |
| |
| if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| { |
| static int cnt = 0; |
| static char last_n_p,last_n_n,last_r_p,last_r_n; |
| static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
| if(!Looping_Nick && !Looping_Roll && !TrichterFlug) |
| { |
| MittelIntegralNick /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll /= ABGLEICH_ANZAHL; |
| IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
| IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
| IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
| #define MAX_I 0//(Poti2/10) |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
| ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
| ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| IntegralAccPitch = 0; |
| IntegralAccRoll = 0; |
| |
| LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
| LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| MeanIntegralPitch = 0; |
| MeanIntegralRoll = 0; |
| |
| if((MaxStickNick > 32) || (MaxStickRoll > 32) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) |
| { |
| LageKorrekturNick /= 2; |
| LageKorrekturRoll /= 2; |
| } |
| Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
| tmp_long = IntegralNick2 - IntegralNick; |
| tmp_long2 = IntegralRoll2 - IntegralRoll; |
| //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| AttitudeCorrectionPitch = 0; |
| AttitudeCorrectionRoll = 0; |
| } |
| |
| IntegralFehlerNick = tmp_long; |
| IntegralFehlerRoll = tmp_long2; |
| Mess_IntegralNick2 -= IntegralFehlerNick; |
| Mess_IntegralRoll2 -= IntegralFehlerRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
| { |
| int32_t tmp_long, tmp_long2; |
| // determine the deviation of gyro integral from averaged acceleration sensor |
| tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFactor - (int32_t)Mean_AccPitch); |
| tmp_long /= 16; |
| tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll); |
| tmp_long2 /= 16; |
| |
| // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
| // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
| if(GierGyroFehler > ABGLEICH_ANZAHL/2) AdNeutralGier++; |
| if(GierGyroFehler <-ABGLEICH_ANZAHL/2) AdNeutralGier--; |
| if((MaxStickPitch > 32) || (MaxStickRoll > 32)) // reduce effect during stick commands |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| |
| DebugOut.Analog[22] = MittelIntegralRoll / 26; |
| #define BALANCE 32 |
| // limit correction effect |
| if(tmp_long > BALANCE) tmp_long = BALANCE; |
| if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
| if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
| if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
| // correct current readings |
| Reading_IntegralGyroPitch -= tmp_long; |
| Reading_IntegralGyroRoll -= tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // MeasurementCounter is incremented in the isr of analog.c |
| if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
| { |
| static int16_t cnt = 0; |
| static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
| static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
| |
| GierGyroFehler = 0; |
| // if not lopping in any direction (this should be alwais the case, |
| // because the Measurement counter is reset to 0 if looping in any direction is active.) |
| if(!Looping_Pitch && !Looping_Roll && !FunnelCourse) |
| { |
| // Calculate mean value of the gyro integrals |
| MeanIntegralPitch /= BALANCE_NUMBER; |
| MeanIntegralRoll /= BALANCE_NUMBER; |
| |
| // Calculate mean of the acceleration values |
| IntegralAccPitch = (ParamSet.GyroAccFactor * IntegralAccPitch) / BALANCE_NUMBER; |
| IntegralAccRoll = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER; |
| |
| /*DebugOut.Analog[17] = IntegralAccNick / 26; |
| DebugOut.Analog[18] = IntegralAccRoll / 26; |
| DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
| DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
| // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
| IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
| CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
| AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
| IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
| CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
| AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
| |
| if((MaxStickPitch > 32) || (MaxStickRoll > 32) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
| { |
| AttitudeCorrectionPitch /= 2; |
| AttitudeCorrectionRoll /= 2; |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
| IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
| Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
| // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
| IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
| Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
| |
| if(YawGyroDrift > BALANCE_NUMBER/2) AdNeutralYaw++; |
| if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--; |
| YawGyroDrift = 0; |
| /* |
| DebugOut.Analog[17] = IntegralAccPitch / 26; |
| DebugOut.Analog[18] = IntegralAccRoll / 26; |
| DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
| DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
| DebugOut.Analog[21] = MeanIntegralPitch / 26; |
| DebugOut.Analog[22] = MeanIntegralRoll / 26; |
| //DebugOut.Analog[28] = CorrectionPitch; |
| DebugOut.Analog[29] = CorrectionRoll; |
| DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
| */ |
| //DebugOut.Analog[21] = MittelIntegralNick / 26; |
| //MittelIntegralRoll = MittelIntegralRoll; |
| //DebugOut.Analog[28] = ausgleichNick; |
| |
| #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
| #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
| #define MOVEMENT_LIMIT 20000 |
| // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
| CorrectionPitch = 0; |
| if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
| { |
| if(IntegralErrorPitch > ERROR_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
| CorrectionPitch = IntegralErrorPitch / 8; |
| if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
| AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
| } |
| else last_n_p = 1; |
| } |
| else last_n_p = 0; |
| if(IntegralErrorPitch < -ERROR_LIMIT2) |
| { |
| if(last_n_n) |
| { |
| cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
| CorrectionPitch = IntegralErrorPitch / 8; |
| if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
| AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
| } |
| else last_n_n = 1; |
| } |
| else last_n_n = 0; |
| } |
| else |
| { |
| cnt = 0; |
| BadCompassHeading = 500; |
| } |
| if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
| // correct Gyro Offsets |
| if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
| if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
| |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
| CorrectionRoll = 0; |
| if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
| { |
| if(IntegralErrorRoll > ERROR_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
| CorrectionRoll = IntegralErrorRoll / 8; |
| if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
| AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
| } |
| else last_r_p = 1; |
| } |
| else last_r_p = 0; |
| if(IntegralErrorRoll < -ERROR_LIMIT2) |
| { |
| if(last_r_n) |
| { |
| cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
| CorrectionRoll = IntegralErrorRoll / 8; |
| if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
| AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
| } |
| else last_r_n = 1; |
| } |
| else last_r_n = 0; |
| } |
| else |
| { |
| cnt = 0; |
| BadCompassHeading = 500; |
| } |
| // correct Gyro Offsets |
| if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
| if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
| /* |
| DebugOut.Analog[29] = ausgleichRoll; |
| DebugOut.Analog[30] = LageKorrekturRoll * 10; |
| DebugOut.Analog[27] = CorrectionRoll; |
| DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
| DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
| */ |
| } |
| else // looping is active |
| { |
| AttitudeCorrectionRoll = 0; |
| AttitudeCorrectionPitch = 0; |
| FunnelCourse = 0; |
| } |
| |
| #define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
| #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
| #define BEWEGUNGS_LIMIT 20000 |
| // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT) |
| { |
| if(IntegralFehlerNick > FEHLER_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick > 5000) ausgleichNick = 5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_p = 1; |
| } else last_n_p = 0; |
| if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| { |
| if(last_n_n) |
| { |
| cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick < -5000) ausgleichNick = -5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_n = 1; |
| } else last_n_n = 0; |
| } |
| else |
| { |
| cnt = 0; |
| KompassSignalSchlecht = 500; |
| } |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
| // if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction |
| if(!Gyro_I_Factor) |
| { |
| AttitudeCorrectionRoll = 0; |
| AttitudeCorrectionPitch = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MeanIntegralPitch_old = MeanIntegralPitch; |
| MeanIntegralRoll_old = MeanIntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // reset variables used for averaging |
| IntegralAccPitch = 0; |
| IntegralAccRoll = 0; |
| MeanIntegralPitch = 0; |
| MeanIntegralRoll = 0; |
| MeasurementCounter = 0; |
| } // end of averaging |
| |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| |
| ausgleichRoll = 0; |
| if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT) |
| { |
| if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_p = 1; |
| } else last_r_p = 0; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| { |
| if(last_r_n) |
| { |
| cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_n = 1; |
| } else last_r_n = 0; |
| } else |
| { |
| cnt = 0; |
| KompassSignalSchlecht = 500; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Yawing |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickYaw) > 15 ) // yaw stick is activated |
| { |
| if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) |
| { |
| UpdateCompassCourse = 1; |
| CompassCourse = YawGyroHeading; |
| BadCompassHeading = 250; |
| } |
| } |
| // exponential stick sensitivity in yawring rate |
| tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
| tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
| SetPointYaw = tmp_int; |
| // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw) |
| Reading_IntegralGyroYaw -= tmp_int; |
| // limit the effect |
| if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
| if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
| |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
| /*DebugOut.Analog[27] = ausgleichRoll; |
| DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
| DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
| */ |
| } |
| else |
| { |
| LageKorrekturRoll = 0; |
| LageKorrekturNick = 0; |
| TrichterFlug = 0; |
| } |
| |
| if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick_Alt = MittelIntegralNick; |
| MittelIntegralRoll_Alt = MittelIntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| IntegralAccZ = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| ZaehlMessungen = 0; |
| } |
| //DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Compass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // compass code is used if Compass option is selected |
| if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
| { |
| int16_t w, v, r,correction, error; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
| if(abs(StickGier) > 15) // war 35 |
| { |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
| { |
| NeueKompassRichtungMerken = 1; |
| KompassStartwert = ErsatzKompass; |
| KompassSignalSchlecht = 250; |
| }; |
| } |
| tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| sollGier = tmp_int; |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Kompass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //DebugOut.Analog[29] = (MaxStickNick + MaxStickRoll); |
| if(CompassCalState && MotorsOn == 0 ) |
| { |
| SetCompassCalState(); |
| #ifdef USE_KILLAGREG |
| MM3_Calibrate(); |
| #endif |
| } |
| else |
| { |
| #ifdef USE_KILLAGREG |
| static uint8_t updCompass = 0; |
| if (!updCompass--) |
| { |
| updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
| MM3_Heading(); |
| } |
| #endif |
| |
| if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| { |
| int w,v,r,fehler,korrektur; |
| w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; // grösste Neigung ermitteln |
| korrektur = w / 8 + 1; |
| if(w < 25 && NeueKompassRichtungMerken && !KompassSignalSchlecht) |
| { |
| beeptime = 200; |
| // KompassStartwert = KompassValue; |
| KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| NeueKompassRichtungMerken = 0; |
| } |
| fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| ErsatzKompass += (fehler * 8) / korrektur; |
| w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| if(w > 0) |
| { |
| if(!KompassSignalSchlecht) |
| { |
| GierGyroFehler += fehler; |
| v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| // r = KompassRichtung; |
| v = (r * w) / v; // nach Kompass ausrichten |
| w = 3 * Parameter_KompassWirkung; |
| if(v > w) v = w; // Begrenzen |
| else |
| if(v < -w) v = -w; |
| Mess_Integral_Gier += v; |
| } |
| if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| } |
| else KompassSignalSchlecht = 250; // so lange das Signal taub stellen --> ca. 0,5 sek |
| |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // get maximum attitude angle |
| w = abs(IntegralPitch/512); |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; |
| // update compass course |
| if (w < 25 && UpdateCompassCourse && !BadCompassHeading) |
| { |
| BeepTime = 200; |
| CompassCourse = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
| UpdateCompassCourse = 0; |
| } |
| // calculate the deviation of the yaw gyro heading and the compass heading |
| if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
| else error = ((540 + CompassHeading - (YawGyroHeading / YAW_GYRO_DEG_FACTOR)) % 360) - 180; |
| correction = w / 8 + 1; |
| YawGyroHeading += (error * 8) / correction; |
| w = (w * FCParam.CompassYawEffect) / 64; |
| w = FCParam.CompassYawEffect - w; |
| if(w > 0) |
| { |
| if(BadCompassHeading) |
| { // wait a while |
| BadCompassHeading--; |
| } |
| else |
| { // |
| YawGyroDrift += error; |
| v = 64 + (MaxStickPitch + MaxStickRoll) / 8; |
| // calc course deviation |
| r = ((540 + (YawGyroHeading / YAW_GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180; |
| v = (r * w) / v; // align to compass course |
| // limit yaw rate |
| w = 3 * FCParam.CompassYawEffect; |
| if (v > w) v = w; |
| else if (v < -w) v = -w; |
| Reading_IntegralGyroYaw += v; |
| } |
| } |
| else |
| { // ignore compass at extreme attitudes for a while |
| BadCompassHeading = 250; |
| } |
| } |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #ifdef USE_KILLAGREG |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // GPS |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| { |
| GPS_I_Factor = FCParam.UserParam2; |
| GPS_P_Factor = FCParam.UserParam5; |
| GPS_D_Factor = FCParam.UserParam6; |
| if(EmergencyLanding) GPS_Main(230); // enables Comming Home |
| else GPS_Main(Poti3); // behavior controlled by Poti3 |
| } |
| else |
| { |
| GPS_Pitch = 0; |
| GPS_Roll = 0; |
| } |
| #endif |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!TimerWerteausgabe--) |
| { |
| TimerWerteausgabe = 24; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!TimerDebugOut--) |
| { |
| TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
| DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFactor; |
| DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFactor; |
| DebugOut.Analog[2] = Mean_AccPitch; |
| DebugOut.Analog[3] = Mean_AccRoll; |
| DebugOut.Analog[4] = Reading_GyroYaw; |
| DebugOut.Analog[5] = ReadingHeight; |
| DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
| DebugOut.Analog[8] = CompassHeading; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = RC_Quality; |
| DebugOut.Analog[11] = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
| DebugOut.Analog[16] = Mean_AccTop; |
| |
| DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[2] = Mittelwert_AccNick; |
| DebugOut.Analog[3] = Mittelwert_AccRoll; |
| DebugOut.Analog[4] = MesswertGier; |
| DebugOut.Analog[5] = HoehenWert; |
| DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
| DebugOut.Analog[10] = SenderOkay; |
| DebugOut.Analog[16] = Mittelwert_AccHoch; |
| DebugOut.Analog[20] = ServoValue; |
| |
| //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
| //DebugOut.Analog[18] = (int)FromNaviCtrl_Value.OsdBar; |
| DebugOut.Analog[19] = WinkelOut.CalcState; |
| DebugOut.Analog[20] = ServoValue; |
| |
| DebugOut.Analog[30] = GPS_Nick; |
| DebugOut.Analog[31] = GPS_Roll; |
| |
| DebugOut.Analog[30] = GPS_Pitch; |
| DebugOut.Analog[31] = GPS_Roll; |
| |
| // DebugOut.Analog[19] -= DebugOut.Analog[19]/128; |
| // if(DebugOut.Analog[19] > 0) DebugOut.Analog[19]--; else DebugOut.Analog[19]++; |
| /* DebugOut.Analog[16] = motor_rx[0]; |
| DebugOut.Analog[17] = motor_rx[1]; |
| DebugOut.Analog[18] = motor_rx[2]; |
| DebugOut.Analog[19] = motor_rx[3]; |
| DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
| DebugOut.Analog[20] /= 14; |
| DebugOut.Analog[21] = motor_rx[4]; |
| DebugOut.Analog[22] = motor_rx[5]; |
| DebugOut.Analog[23] = motor_rx[6]; |
| DebugOut.Analog[24] = motor_rx[7]; |
| DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
| |
| /* DebugOut.Analog[16] = motor_rx[0]; |
| DebugOut.Analog[17] = motor_rx[1]; |
| DebugOut.Analog[18] = motor_rx[2]; |
| DebugOut.Analog[19] = motor_rx[3]; |
| DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
| DebugOut.Analog[20] /= 14; |
| DebugOut.Analog[21] = motor_rx[4]; |
| DebugOut.Analog[22] = motor_rx[5]; |
| DebugOut.Analog[23] = motor_rx[6]; |
| DebugOut.Analog[24] = motor_rx[7]; |
| DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
| */ |
| // DebugOut.Analog[9] = MesswertNick; |
| // DebugOut.Analog[9] = SollHoehe; |
| // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| // DebugOut.Analog[11] = KompassStartwert; |
| // DebugOut.Analog[10] = Parameter_Gyro_I; |
| // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
| // DebugOut.Analog[9] = KompassRichtung; |
| // DebugOut.Analog[10] = GasMischanteil; |
| // DebugOut.Analog[3] = HoeheD * 32; |
| // DebugOut.Analog[4] = hoehenregler; |
| } |
| DebugOut.Analog[9] = Reading_GyroPitch; |
| DebugOut.Analog[9] = SetPointHeight; |
| DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[10] = FCParam.Gyro_I; |
| DebugOut.Analog[10] = ParamSet.Gyro_I; |
| DebugOut.Analog[9] = CompassOffCourse; |
| DebugOut.Analog[10] = ThrustMixFraction; |
| DebugOut.Analog[3] = HeightD * 32; |
| DebugOut.Analog[4] = HeightControlThrust; |
| */ |
| } |
| |
| if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor; |
| else MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor; |
| else MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| MesswertGier = MesswertGier * (2 * GyroFaktor) + Integral_Gier * IntegralFaktor / 2; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| DebugOut.Analog[21] = MesswertNick; |
| DebugOut.Analog[22] = MesswertRoll; |
| if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
| else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
| if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
| else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
| Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
| |
| // Maximalwerte abfangen |
| #define MAX_SENSOR (4096*STICK_GAIN) |
| if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| DebugOut.Analog[21] = Reading_GyroPitch; |
| DebugOut.Analog[22] = Reading_GyroRoll; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //OCR0B = 180 - (Poti1 + 120) / 4; |
| //DruckOffsetSetting = OCR0B; |
| GasMischanteil *= STICK_GAIN; |
| // limit control feedback |
| #define MAX_SENSOR (4096 * STICK_GAIN) |
| if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
| if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
| if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
| if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
| if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
| if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
| |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| { |
| int tmp_int; |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { |
| if(Parameter_MaxHoehe < 50) |
| { |
| SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| HoehenReglerAktiv = 0; |
| } |
| else |
| HoehenReglerAktiv = 1; |
| } |
| else |
| { |
| SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung - 20; |
| HoehenReglerAktiv = 1; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Height Control |
| // The height control algorithm reduces the thrust but does not increase the thrust. |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| if(Notlandung) SollHoehe = 0; |
| h = HoehenWert; |
| if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| { |
| h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / (16 / STICK_GAIN); // Differenz bestimmen --> P-Anteil |
| h = GasMischanteil - h; // vom Gas abziehen |
| // h -= (HoeheD * Parameter_Luftdruck_D)/(8/STICK_GAIN); // D-Anteil |
| h -= (HoeheD)/(8/STICK_GAIN); // D-Anteil |
| tmp_int = ((Mess_Integral_Hoch / 128) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
| if(tmp_int > 70*STICK_GAIN) tmp_int = 70*STICK_GAIN; |
| else if(tmp_int < -(70*STICK_GAIN)) tmp_int = -(70*STICK_GAIN); |
| h -= tmp_int; |
| hoehenregler = (hoehenregler*15 + h) / 16; |
| if(hoehenregler < EE_Parameter.Hoehe_MinGas * STICK_GAIN) // nicht unter MIN |
| { |
| if(GasMischanteil >= EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = EE_Parameter.Hoehe_MinGas * STICK_GAIN; |
| if(GasMischanteil < EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = GasMischanteil; |
| } |
| if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| GasMischanteil = hoehenregler; |
| } |
| } |
| if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = GasMischanteil; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MUL_G 1.0 |
| GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| // GierMischanteil = 0; |
| #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
| if(GasMischanteil > MIN_GIERGAS) |
| { |
| if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
| } |
| else |
| { |
| if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
| } |
| tmp_int = MAX_GAS*STICK_GAIN; |
| if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| ThrustMixFraction *= STICK_GAIN; |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - StickNick; // I-Anteil bei Winkelregelung |
| else SummeNick += DiffNick; // I-Anteil bei HH |
| if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
| pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| // Motor Vorn |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
| // If height control is activated and no emergency landing is active |
| if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
| { |
| int tmp_int; |
| // if height control is activated by an rc channel |
| if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
| { // check if parameter is less than activation threshold |
| if(FCParam.MaxHeight < 50) |
| { |
| SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
| HeightControlActive = 0; // disable height control |
| } |
| else HeightControlActive = 1; // enable height control |
| } |
| else // no switchable height control |
| { |
| SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
| HeightControlActive = 1; |
| } |
| // get current height |
| h = ReadingHeight; |
| // if current height is above the setpoint reduce thrust |
| if((h > SetPointHeight) && HeightControlActive) |
| { |
| // ThrustMixFraction - HightDeviation * P - HeightChange * D - ACCTop * DACC |
| // height difference -> P control part |
| h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / (16 / STICK_GAIN); |
| h = ThrustMixFraction - h; // reduce gas |
| // height gradient --> D control part |
| //h -= (HeightD * FCParam.Height_D) / (8 / STICK_GAIN); // D control part |
| h -= (HeightD) / (8 / STICK_GAIN); // D control part |
| // acceleration sensor effect |
| tmp_int = ((Reading_Integral_Top / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN); |
| if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN; |
| else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN); |
| h -= tmp_int; |
| // update height control thrust |
| HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
| // limit thrust reduction |
| if(HeightControlThrust < ParamSet.Height_MinThrust * STICK_GAIN) |
| { |
| if(ThrustMixFraction >= ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ParamSet.Height_MinThrust * STICK_GAIN; |
| // allows landing also if thrust stick is reduced below min thrust on height control |
| if(ThrustMixFraction < ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ThrustMixFraction; |
| } |
| // limit thrust to stick setting |
| if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
| ThrustMixFraction = HeightControlThrust; |
| } |
| } |
| // limit thrust to parameter setting |
| if(ThrustMixFraction > (ParamSet.Trust_Max - 20) * STICK_GAIN) ThrustMixFraction = (ParamSet.Trust_Max - 20) * STICK_GAIN; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mixer and PI-Controller |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = ThrustMixFraction; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Yaw-Fraction |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| YawMixFraction = Reading_GyroYaw - SetPointYaw * STICK_GAIN; // yaw controller |
| #define MIN_YAWTHRUST (40 * STICK_GAIN) // yaw also below this thrust value |
| // limit YawMixFraction |
| if(ThrustMixFraction > MIN_YAWTHRUST) |
| { |
| if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
| if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
| } |
| else |
| { |
| if(YawMixFraction > (MIN_YAWTHRUST / 2)) YawMixFraction = MIN_YAWTHRUST / 2; |
| if(YawMixFraction < -(MIN_YAWTHRUST / 2)) YawMixFraction = -(MIN_YAWTHRUST / 2); |
| } |
| tmp_int = ParamSet.Trust_Max * STICK_GAIN; |
| if(YawMixFraction > ((tmp_int - ThrustMixFraction))) YawMixFraction = ((tmp_int - ThrustMixFraction)); |
| if(YawMixFraction < -((tmp_int - ThrustMixFraction))) YawMixFraction = -((tmp_int - ThrustMixFraction)); |
| |
| motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| motorwert /= STICK_GAIN; |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Vorne = motorwert; |
| // Motor Heck |
| motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| motorwert /= STICK_GAIN; |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Hinten = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - StickRoll;// I-Anteil bei Winkelregelung |
| else SummeRoll += DiffRoll; // I-Anteil bei HH |
| if(SummeRoll > 16000) SummeRoll = 16000; |
| if(SummeRoll < -16000) SummeRoll = -16000; |
| pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
| // Motor Links |
| motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| motorwert /= STICK_GAIN; |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Links = motorwert; |
| // Motor Rechts |
| motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| motorwert /= STICK_GAIN; |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Rechts = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Pitch-Axis |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffPitch = Reading_GyroPitch - StickPitch; // get difference |
| if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - StickPitch; // I-part for attitude control |
| else SumPitch += DiffPitch; // I-part for head holding |
| if(SumPitch > (STICK_GAIN * 16000L)) SumPitch = (STICK_GAIN * 16000L); |
| if(SumPitch < -(STICK_GAIN * 16000L)) SumPitch = -(STICK_GAIN * 16000L); |
| pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
| |
| tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
| if(pd_result > tmp_int) pd_result = tmp_int; |
| if(pd_result < -tmp_int) pd_result = -tmp_int; |
| |
| // Motor Front |
| MotorValue = ThrustMixFraction + pd_result + YawMixFraction; // Mixer |
| MotorValue /= STICK_GAIN; |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_Front = MotorValue; |
| |
| // Motor Rear |
| MotorValue = ThrustMixFraction - pd_result + YawMixFraction; // Mixer |
| MotorValue /= STICK_GAIN; |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_Rear = MotorValue; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Axis |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = Reading_GyroRoll - StickRoll; // get difference |
| if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control |
| else SumRoll += DiffRoll; // I-part for head holding |
| if(SumRoll > 16000) SumRoll = 16000; |
| if(SumRoll < -16000) SumRoll = -16000; |
| pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
| tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
| if(pd_result > tmp_int) pd_result = tmp_int; |
| if(pd_result < -tmp_int) pd_result = -tmp_int; |
| |
| // Motor Left |
| MotorValue = ThrustMixFraction + pd_result - YawMixFraction; // Mixer |
| MotorValue /= STICK_GAIN; |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_Left = MotorValue; |
| |
| // Motor Right |
| MotorValue = ThrustMixFraction - pd_result - YawMixFraction; // Mixer |
| MotorValue /= STICK_GAIN; |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_Right = MotorValue; |
| } |
| |