WebSVN - FlightCtrl - Path Comparison - /branches/salvo_gps/Basis_v0067g/ Rev 669 and /branches/salvo_gps/Basis

Ignore whitespace Rev 669 → Rev 670

 /branches/salvo_gps/Basis_v0067g/trunk/Flight-Ctrl_MEGA644_V0_07a.hex
 ,17 → 76,17
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 ,22 → 467,22
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 ,7 → 491,7
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 :103350003405509135058091BC089091BD08AA278D
 :1033600097FDA095BA2F820F931FA41FB51F8093BE
 ,7 → 944,7
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 :103B00008F3F910539F034F08FEF90E090935D0591
 :103B100080935C056091970870E080E090E024EC71
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 :103B40008C0380938D0390938E0308958091770862
 :103B50008B3F98F08B3F19F4809156050EC08C3F37
 ,7 → 1042,7
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 :1041200080919E03882319F410929E0304C08F3F50
 :1041300011F480939E0360919B0370E080E090E017
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 :1041600080917F088093F20880917E088093BE083A
 :1041700008951F93182F0EC080916505882361F460
 ,20 → 1070,20
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 :1042E0009091FD0490930105809300058091FA045C
 :1042F0009091FB04909303058093020544E050E005
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 ,9 → 1098,9
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 :1044A0000E94913A82E390E09093C5048093C40403
 :1044B0006091970870E080E090E024EC39E040E003
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 :10451000900D349F900D1124AA2797FDA095BA2FD6
 ,15 → 1175,15
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 :10498000991F820F931F880F991F880F991F6FE03F
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 :1049E000220F331F4A95E1F7280F391FC801820FA4
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 :104A30008093CB0504C01093CC050093CB05009167
 :104A4000CB051091CC051A83098317FF02C01A8287
 ,7 → 1232,7
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 :104D00005CF4220F331F225C374FF90180819181BF
 :104D1000863491050CF445E0A2E0B0E0042E0E9438
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 :104D400080910E0390910F03875B934038F480911C
 :104D50000E0390910F038E5E924010F40E94191082
 ,20 → 1241,20
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 :104D9000855B9F4F0CF081C08091A4058F5F80934D
 :104DA000A405893C08F422C129988FEF04E010E0A3
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 :104EA000E981FA81B3970CF0A1C0E0916F08F0E0BE
 :104EB000EE0FFF1FE25CF74F80819181855B9F4F72
 ,11 → 1287,11
 :10506000A02DB88BAF878C5A974FDC01AD90BC90C8
 :10507000E0916F08AE2FB0E0AA0FBB1FA25CB74F44
 :105080000D90BC91A02DBE87AD876091980370E014
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 :1050B0002B013C016093F5087093F6088093F70884
 :1050C0009093F8086091990370E080E090E00E946E
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 :1050E000DB087093DC088093DD089093DE08209144
 :1050F000B304222331F08AE090E09093C5048093BA
 :10510000C404E22F22FF09C080917405482F50E0AB
 ,7 → 1299,7
 :1051200050E00BC08091740590E0880F991F880FA4
 :10513000991F44275527481B590B20917E05309114
 :105140007F05C90113E0880F991F1A95E1F7821BAB
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 :1051600070937F0560937E05E4FF09C0809174050C
 :10517000482F50E0440F551F440F551F10C0E5FD48
 :1051800003C040E050E00BC08091740590E0880FB0
 ,7 → 1306,7
 :10519000991F880F991F44275527481B590B809149
 :1051A0008005909181059C01F3E0220F331FFA9551
 :1051B000E1F7281B390BCA01820F931F68E070E0EA
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 :1051D0008091B204282F83FF03C082E390E004C0D3
 :1051E00082FF07C08EEC9FEF90938305809382052A
 :1051F00004C0109283051092820521FF09C080919E
 ,20 → 1315,20
 :10522000A00380939F032B893C89229DF001239D3D
 :10523000F00D329DF00D112449895A894E9DC0010F
 :105240004F9D900D5E9D900D1124E80FF91FC80130
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 :10526000F0936005E0935F05A29C8001A39C100D64
 :10527000B29C100D11246F8578896E9DC0016F9DC1
 :10528000900D7E9D900D1124080F191F8D899E8908
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 :1052C00082FF0CC080E090E0A0E0B0E08093DB08BB
 :1052D0009093DC08A093DD08B093DE0820E030E076
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 :1052F00080E090E0A0E0B0E08093F5089093F6089D
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 :105310006091DB087091DC088091DD089091DE08D7
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 :105340008091A008682F70E0E4E06E2E712C662238
 :10535000772282FDC4C083FDC2C080910E0590916A
 ,13 → 1418,13
 :105890006F05882309F0A2C060910E0570910F0575
 :1058A0008091100590911105A0908008BB24CC2414
 :1058B000DD24E090EE08F090EF08A60195010E942B
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 :1058D000510BCA01B90120E130E040E050E00E94E4
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 :105910003F09400B510BCA01B90120E130E040E0E2
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 :1059400066166FEF76066FEF86066FEF960644F4E5
 :10595000E0EE6E2EEFEF7E2EEFEF8E2EEFEF9E2E0F
 ,36 → 1439,36
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 :105A0000D1087091D2088091D3089091D40820E0F9
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 ,7 → 1505,7
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 :105E600094060CF052C080919005882309F449C033
 ,12 → 1512,12
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 :105E8000B595A795979587955A95D1F701969093D3
 :105E9000930580939205C401B30128E030E040E00F
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 :105F2000D7FE04C0D094C194D108D394D092C008B5
 ,7 → 1547,7
 :1060A000B04064F088E893E1A0E0B0E0809394050C
 :1060B00090939505A0939605B093970560919405EC
 :1060C00070919505809196059091970520E031E0BB
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 :1060F0008F0520E0E21620EFF2062FEF02072FEFC8
 :1061000012070CF052C080918E05882309F449C013
 ,12 → 1554,12
 :1061100088279927DC018E199F09A00BB10B2CE071
 :10612000B595A795979587952A95D1F70196909360
 :10613000930580939205C801B70128E030E040E064
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 :1061B000109293051092920578ECC716D1040CF05A
 :1061C0004BC088ECA816B1040CF046C080919A0828
 ,7 → 1573,7
 :10624000FD048093FC0408C010926B0510926A054F
 :1062500010926D0510926C0520E030E040E050E0B7
 :106260006091DB087091DC088091DD089091DE0878
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 :10629000A091D308B091D40880938A0590938B0580
 :1062A000A0938C05B0938D058091D5089091D60868
 ,7 → 1598,7
 :1063D0008F3F91052CF401969093550580935405B9
 :1063E000809154059091550503970CF492C06091EB
 :1063F000CB087091CC088091CD089091CE0824E113
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 :106410002093BF0860914A0570914B0580916A08EE
 :1064200090916B08681B790B7093E6086093E50800
 :10643000BFEF6C347B0734F468597E4F7093E608E5
 ,7 → 1617,7
 :1065000054051092CB081092CC081092CD0810922E
 :10651000CE0881E0809352056091030970910409CF
 :10652000809105099091060924E135E040E050E0B2
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 :106550007093C0086093BF08CB010197833B9105FE
 :1065600088F0643B710534F4CB018C549F4F843B1D
 ,7 → 1628,7
 :1065B00088599E4FAF4FBF4F8093030990930409B2
 :1065C000A0930509B093060960910309709104092D
 :1065D000809105099091060928E631E040E050E0FD
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 :1065F0006093030970930409809305099093060939
 :106600000AC0109252051092CB081092CC0810923A
 :10661000CD081092CE0880914A0590914B05909339
 ,10 → 1647,10
 :1066E000D7FE04C0002711270C191D09053111051B
 :1066F0003CF08091740884FD03C081E080939C0588
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 ,7 → 1672,7
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 ,9 → 1680,9
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 ,10 → 1689,10
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 ,34 → 1714,34
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 ,18 → 1762,18
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 ,7 → 1783,7
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 ,14 → 1790,14
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 ,15 → 1814,15
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 ,14 → 1834,14
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 ,10 → 1857,10
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 ,18 → 1882,18
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 ,9 → 1954,9
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 ,15 → 1970,15
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 ,12 → 1989,12
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 ,14 → 2016,14
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 ,8 → 2035,8
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 ,19 → 2053,19
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 ,350 → 2072,350
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 /branches/salvo_gps/Basis_v0067g/trunk/GPS.c
 ,7 → 16,7
 Auswertung der Daten vom GPS im ublox Format
 Hold Modus mit PID Regler
 Rückstuerz zur Basis Funktion
-Stand 14.1.2008
+Stand 20.1.2008
 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 */
 ,7 → 531,7
                                 }
                                 //I Werte begrenzen
-                                #define INT1_MAX (GPS_NICKROLL_MAX * GPS_V*3)/10// auf 30 Prozent des maximalen Nick/Rollwert begrenzen
+                                #define INT1_MAX (GPS_NICKROLL_MAX * GPS_V*5)/10// auf 40 Prozent des maximalen Nick/Rollwert begrenzen
                                 int_east1  =  ((((long)int_east)   * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT;
                                 int_north1 =  ((((long)int_north)  * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT;
                                 if (int_east1 > INT1_MAX) int_east1 =  INT1_MAX; //begrenzen
 ,10 → 545,10
                                         amplfy_speed_north = DIFF_Y_F_MAX;
                                         amplfy_speed_east  *= (Parameter_UserParam3/GPS_USR_PAR_FKT);
                                         amplfy_speed_north *= (Parameter_UserParam3/GPS_USR_PAR_FKT);
-                                        speed_east  = (speed_east   * (long)amplfy_speed_east) /100;
-                                        speed_north = (speed_north  * (long)amplfy_speed_north)/100;
+                                        speed_east  = (speed_east   * (long)amplfy_speed_east) /50;
+                                        speed_north = (speed_north  * (long)amplfy_speed_north)/50;
                                         // D Werte begrenzen
-                                        #define D_F_MAX (GPS_NICKROLL_MAX * GPS_V*7)/10 // auf xx Prozent des Maximalen Nick/Rollwert begrenzen
+                                        #define D_F_MAX (GPS_NICKROLL_MAX * GPS_V*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen
                                         if (speed_east  > D_F_MAX) speed_east = D_F_MAX;
                                         else if (speed_east < -D_F_MAX) speed_east = -D_F_MAX;
                                         if (speed_north > D_F_MAX) speed_north = D_F_MAX;
 ,10 → 562,10
                                         amplfy_speed_north = DIFF_Y_N_MAX;
                                         amplfy_speed_east  *= (Parameter_UserParam3/GPS_USR_PAR_FKT);
                                         amplfy_speed_north *= (Parameter_UserParam3/GPS_USR_PAR_FKT);
-                                        speed_east  = (speed_east   * (long)amplfy_speed_east) /50;
-                                        speed_north = (speed_north  * (long)amplfy_speed_north)/50;
+                                        speed_east  = (speed_east   * (long)amplfy_speed_east) /25;
+                                        speed_north = (speed_north  * (long)amplfy_speed_north)/25;
                                         // D Werte begrenzen
-                                        #define D_N_MAX (GPS_NICKROLL_MAX * GPS_V*8)/10 // auf xx Prozent des Maximalen Nick/Rollwert begrenzen
+                                        #define D_N_MAX (GPS_NICKROLL_MAX * GPS_V*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen
                                         if (speed_east  > D_N_MAX) speed_east = D_N_MAX;
                                         else if (speed_east < -D_N_MAX) speed_east = -D_N_MAX;
                                         if (speed_north > D_N_MAX) speed_north = D_N_MAX;
 ,7 → 584,7
                                 if (hold_fast > 0)  //schneller Coming Home Modus
                                 {
                                         // P Werte begrenzen
-                                        #define P1_F_MAX (GPS_NICKROLL_MAX * GPS_V*8)/10 // auf xx Prozent des Maximalen Nick/Rollwert begrenzen
+                                        #define P1_F_MAX (GPS_NICKROLL_MAX * GPS_V*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen
                                         if (delta_east   > P1_F_MAX) delta_east = P1_F_MAX;
                                         else if (delta_east < -P1_F_MAX) delta_east = -P1_F_MAX;
                                         if (delta_north > P1_F_MAX) delta_north = P1_F_MAX;
 ,7 → 593,7
                                 else // Hold modus
                                 {
                                         // P Werte begrenzen
-                                        #define P1_N_MAX (GPS_NICKROLL_MAX * GPS_V*7)/10 // auf xx Prozent des Maximalen Nick/Rollwert begrenzen
+                                        #define P1_N_MAX (GPS_NICKROLL_MAX * GPS_V*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen
                                         if (delta_east   > P1_N_MAX) delta_east = P1_N_MAX;
                                         else if (delta_east < -P1_N_MAX) delta_east = -P1_N_MAX;
                                         if (delta_north > P1_N_MAX) delta_north = P1_N_MAX;

 /branches/salvo_gps/Basis_v0067g/trunk/README_Gps_Deutsch.txt
 ,6 → 1,6
 *********************************************************************
 GPS Implementierung von Peter Muehlenbrock ("Salvo") für Mikrokopter/FlightCrtl
-Stand 14.1.2008
+Stand 20.1.2008
 Verwendung der SW ohne Gewaehr. Siehe auch die Lizenzbedingungen in File Licensce_LPGL.txt und Licensce_GPL.txt
 Die Version basiert auf Holgers V00.67g.
 *********************************************************************
 ,9 → 27,9
 Der P-Anteil wirkt einer Lageänderung entgegen. Je größer er ist, desto geringer die Regelabweichung, desto höher aber auch die Schwingneigung.
 Der D-Anteil wirkt einer Geschwindigkeitsänderung entgegen und dient zur Reduzierung von Schwingungen, darf aber auch nicht zu gross sein.
-Der I-Anteil dient nur dazu die Lageabweichung auf Null zu bringen. Er erhöht aber die Schwingneigung.
+Der I-Anteil dient nur dazu die Lageabweichung auf Null zu bringen.
 P und D Anteil mussen gut aufeinander abgestimmt sein, damit die Einschwingzeit klein bei gleichzeitig geringer Schwingneigung ist.
-Standarddwerte für P,I,D sind 80,0,120.
+Standarddwerte für P,I,D sind 80,16,80.
 Wenn alle 0 sind, ist der Regler deaktiviert.
 Voraussetzungen für GPS_Hold:

 /branches/salvo_gps/Basis_v0067g/trunk/README_Gps_English.txt
 ,6 → 1,6
 *********************************************************************
 GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl
-As of Jan, 9th 2007
+As of Jan, 20th 2007
 Please note the files Licensce_LPGL.txt and Licensce_GPL.txt
 This SW is based on Holgers V00.67g.
 *********************************************************************
 ,8 → 23,8
 Parameters:
 The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral),
-UserParameter3 = D(ifferential). Standardvalues for P,I and D are 80,0,120.
-The i-Part may be set to 0 if a small deviation from hold position is acceptable. The D-Part is important to avoid
+UserParameter3 = D(ifferential). Standardvalues for P,I and D are 80,16,80.
+The I-Part may be set to 0 if a small deviation from hold position is acceptable. The D-Part is important to avoid
 oscillating.
 Please find out the best values yourself.
 It might be useful to put the P and D Part on potis and test the behaviour in flight.

/branches/salvo_gps/Basis_v0067g/trunk/flightctrl.aws
1,0 → 0,0
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<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="G:\Mikrokopter\Flight_Crtl\v0067g\timer0.c" Position="266 101 1182 710" LineCol="164 0" State="Maximized"/><File00001 Name="G:\Mikrokopter\Flight_Crtl\v0067g\analog.h" Position="288 130 1218 738" LineCol="0 0" State="Maximized"/><File00002 Name="G:\Mikrokopter\Flight_Crtl\v0067g\makefile" Position="310 159 1240 767" LineCol="157 0" State="Maximized"/><File00003 Name="G:\Mikrokopter\Flight_Crtl\v0067g\main.c" Position="332 188 1262 796" LineCol="227 13" State="Maximized"/><File00004 Name="G:\Mikrokopter\Flight_Crtl\v0067g\GPS.c" Position="354 217 1266 800" LineCol="18 15" State="Maximized"/><File00005 Name="G:\Mikrokopter\Flight_Crtl\v0067g\gps.h" Position="262 71 1402 978" LineCol="14 16" State="Maximized"/></Files></AVRWorkspace>

 /branches/salvo_gps/Basis_v0067g/trunk/gps.h
 ,7 → 1,7
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Peter Muehlenbrock alias Salvo
 // Definitionen fuer Modul GPS
-// Stand 9.1.2008
+// Stand 20.1.2008
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 extern signed int       GPS_Nick;
 extern signed int       GPS_Roll;
 ,7 → 118,7
 // P-Regler Verstaerkung
 #define GPS_PROP_NRML_V                 2       //maximale Verstaerkung im Normalen Holdmode
-#define GPS_PROP_FAST_V                 4       //maximale Verstaerkung im Fast mode
+#define GPS_PROP_FAST_V                 3       //maximale Verstaerkung im Fast mode
 // GPS G2T /Go to Target Regler
 #define GPS_G2T_DIST_MAX_STOP   100     // Ab dieser Entfernung vom Zielpunkt soll die Geschwindigkeit runtergeregelt werden( in 10 cm)

Subversion Repositories FlightCtrl

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