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Ignore whitespace Rev 2167 → Rev 2172

/branches/Proxy sensor - tempolo/eeprom.c
572,7 → 572,7
if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom
{
bad_params = 1;
printf("\n\rGenerating default Parameter Set %d",i);
printf("\n\rGenerating default Parm Set %d",i);
switch(i)
{
case 1:
609,7 → 609,7
// read active parameter set to ParamSet stucture
i = GetActiveParamSet();
ParamSet_ReadFromEEProm(i);
printf("\n\rUsing Parameter Set %d", i);
printf("\n\rUsing Parm Set %d", i);
 
// load mixer table
if(GetParamByte(PID_EE_REVISION) == 0xff || !MixerTable_ReadFromEEProm() )
/branches/Proxy sensor - tempolo/fc.c
1,6 → 1,6
/*#######################################################################################
Flight Control
#######################################################################################*/
Flight Control
#######################################################################################*/
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
174,8 → 174,10
signed int KopplungsteilNickRoll,KopplungsteilRollNick;
signed int tmp_motorwert[MAX_MOTORS];
char VarioCharacter = ' ';
unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing
unsigned int HoverGasEmergencyPercent = 0; // The gas value for Emergency landing
 
static int HoehenRegelung(int GasMischanteil);
 
#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
186,32 → 188,32
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
void CopyDebugValues(void)
{
DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
DebugOut.Analog[2] = Mittelwert_AccNick / 4;
DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier;
DebugOut.Analog[5] = HoehenWert/5;
DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az;
DebugOut.Analog[8] = KompassValue;
DebugOut.Analog[9] = UBat;
DebugOut.Analog[10] = SenderOkay;
DebugOut.Analog[11] = ErsatzKompassInGrad;
DebugOut.Analog[12] = Motor[0].SetPoint;
DebugOut.Analog[13] = Motor[1].SetPoint;
DebugOut.Analog[14] = Motor[2].SetPoint;
DebugOut.Analog[15] = Motor[3].SetPoint;
DebugOut.Analog[20] = ServoNickValue;
DebugOut.Analog[22] = Capacity.ActualCurrent;
DebugOut.Analog[23] = Capacity.UsedCapacity;
DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4);
DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4);
DebugOut.Analog[2] = Mittelwert_AccNick / 4;
DebugOut.Analog[3] = Mittelwert_AccRoll / 4;
DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier;
DebugOut.Analog[5] = HoehenWert/5;
DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az;
DebugOut.Analog[8] = KompassValue;
DebugOut.Analog[9] = UBat;
DebugOut.Analog[10] = SenderOkay;
DebugOut.Analog[11] = ErsatzKompassInGrad;
DebugOut.Analog[12] = Motor[0].SetPoint;
DebugOut.Analog[13] = Motor[1].SetPoint;
DebugOut.Analog[14] = Motor[2].SetPoint;
DebugOut.Analog[15] = Motor[3].SetPoint;
DebugOut.Analog[20] = ServoNickValue;
DebugOut.Analog[22] = Capacity.ActualCurrent;
DebugOut.Analog[23] = Capacity.UsedCapacity;
DebugOut.Analog[24] = SollHoehe/5;
// DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ;
// DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay;
DebugOut.Analog[27] = KompassSollWert;
// DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ;
// DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay;
DebugOut.Analog[27] = KompassSollWert;
DebugOut.Analog[29] = Capacity.MinOfMaxPWM;
DebugOut.Analog[30] = GPS_Nick;
DebugOut.Analog[31] = GPS_Roll;
if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe;
DebugOut.Analog[30] = GPS_Nick;
DebugOut.Analog[31] = GPS_Roll;
if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe;
}
 
 
218,15 → 220,15
 
void Piep(unsigned char Anzahl, unsigned int dauer)
{
if(MotorenEin) return; //auf keinen Fall im Flug!
GRN_OFF;
while(Anzahl--)
{
beeptime = dauer;
while(beeptime);
Delay_ms(dauer * 2);
}
GRN_ON;
if(MotorenEin) return; //auf keinen Fall im Flug!
GRN_OFF;
while(Anzahl--)
{
beeptime = dauer;
while(beeptime);
Delay_ms(dauer * 2);
}
GRN_ON;
}
 
//############################################################################
234,9 → 236,9
void CalibrierMittelwert(void)
//############################################################################
{
unsigned char i;
if(PlatinenVersion == 13) SucheGyroOffset();
// ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
unsigned char i;
if(PlatinenVersion == 13) SucheGyroOffset();
// ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
ANALOG_OFF;
MesswertNick = AdWertNick;
MesswertRoll = AdWertRoll;
243,14 → 245,14
MesswertGier = AdWertGier;
Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick;
Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll;
// ADC einschalten
ANALOG_ON;
for(i=0;i<8;i++)
{
int tmp;
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127;
LIMIT_MIN_MAX(tmp, 0, 255);
if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++;
// ADC einschalten
ANALOG_ON;
for(i=0;i<8;i++)
{
int tmp;
tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127;
LIMIT_MIN_MAX(tmp, 0, 255);
if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++;
}
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
263,58 → 265,58
{
unsigned char i;
unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0;
VersionInfo.HardwareError[0] = 0;
// HEF4017Reset_ON;
VersionInfo.HardwareError[0] = 0;
// HEF4017Reset_ON;
NeutralAccX = 0;
NeutralAccY = 0;
NeutralAccZ = 0;
 
AdNeutralNick = 0;
AdNeutralNick = 0;
AdNeutralRoll = 0;
AdNeutralGier = 0;
 
Parameter_AchsKopplung1 = 0;
Parameter_AchsKopplung2 = 0;
 
ExpandBaro = 0;
 
CalibrierMittelwert();
Delay_ms_Mess(100);
 
Parameter_AchsKopplung1 = 0;
Parameter_AchsKopplung2 = 0;
ExpandBaro = 0;
CalibrierMittelwert();
 
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?
{
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
}
#define NEUTRAL_FILTER 32
for(i=0; i<NEUTRAL_FILTER; i++)
{
Delay_ms_Mess(10);
gier_neutral += AdWertGier;
nick_neutral += AdWertNick;
roll_neutral += AdWertRoll;
}
AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
 
StartNeutralRoll = AdNeutralRoll;
StartNeutralNick = AdNeutralNick;
 
if(AccAdjustment)
{
NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
NeutralAccZ = Aktuell_az;
 
// Save ACC neutral settings to eeprom
SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX);
SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY);
Delay_ms_Mess(100);
CalibrierMittelwert();
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?
{
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
}
#define NEUTRAL_FILTER 32
for(i=0; i<NEUTRAL_FILTER; i++)
{
Delay_ms_Mess(10);
gier_neutral += AdWertGier;
nick_neutral += AdWertNick;
roll_neutral += AdWertRoll;
}
AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8);
AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER);
StartNeutralRoll = AdNeutralRoll;
StartNeutralNick = AdNeutralNick;
if(AccAdjustment)
{
NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
NeutralAccZ = Aktuell_az;
// Save ACC neutral settings to eeprom
SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX);
SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY);
SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ);
}
else
{
}
else
{
// restore from eeprom
NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK);
NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL);
325,48 → 327,48
printf("\n\rACC not calibrated!\r\n");
NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY);
NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY);
NeutralAccZ = Aktuell_az;
NeutralAccZ = Aktuell_az;
}
}
 
MesswertNick = 0;
MesswertRoll = 0;
MesswertGier = 0;
Delay_ms_Mess(100);
Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick;
Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll;
IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
Mess_IntegralNick = IntegralNick;
Mess_IntegralRoll = IntegralRoll;
Mess_Integral_Gier = 0;
StartLuftdruck = Luftdruck;
VarioMeter = 0;
Mess_Integral_Hoch = 0;
KompassSollWert = KompassValue;
}
MesswertNick = 0;
MesswertRoll = 0;
MesswertGier = 0;
Delay_ms_Mess(100);
Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick;
Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll;
IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
Mess_IntegralNick = IntegralNick;
Mess_IntegralRoll = IntegralRoll;
Mess_Integral_Gier = 0;
StartLuftdruck = Luftdruck;
VarioMeter = 0;
Mess_Integral_Hoch = 0;
KompassSollWert = KompassValue;
KompassSignalSchlecht = 100;
beeptime = 50;
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;
LED_Init();
FC_StatusFlags |= FC_STATUS_CALIBRATE;
FromNaviCtrl_Value.Kalman_K = -1;
FromNaviCtrl_Value.Kalman_MaxDrift = 0;
FromNaviCtrl_Value.Kalman_MaxFusion = 32;
for(i=0;i<8;i++)
{
Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127;
ExternHoehenValue = 0;
ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR;
GierGyroFehler = 0;
LED_Init();
FC_StatusFlags |= FC_STATUS_CALIBRATE;
FromNaviCtrl_Value.Kalman_K = -1;
FromNaviCtrl_Value.Kalman_MaxDrift = 0;
FromNaviCtrl_Value.Kalman_MaxFusion = 32;
for(i=0;i<8;i++)
{
Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 127;
}
SenderOkay = 100;
if(ServoActive)
{
// HEF4017Reset_ON;
DDRD |=0x80; // enable J7 -> Servo signal
}
 
SenderOkay = 100;
if(ServoActive)
{
// HEF4017Reset_ON;
DDRD |=0x80; // enable J7 -> Servo signal
}
if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; };
if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; };
if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; };
373,10 → 375,10
if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; };
if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; };
if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; };
carefree_old = 70;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
LIBFC_HoTT_Clear();
#endif
carefree_old = 70;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
LIBFC_HoTT_Clear();
#endif
}
 
 
385,147 → 387,147
void Mittelwert(void)
//############################################################################
{
static signed long tmpl,tmpl2,tmpl3,tmpl4;
static signed long tmpl,tmpl2,tmpl3,tmpl4;
static signed int oldNick, oldRoll, d2Roll, d2Nick;
signed long winkel_nick, winkel_roll;
MesswertGier = (signed int) AdNeutralGier - AdWertGier;
MesswertNick = (signed int) AdWertNickFilter / 8;
MesswertRoll = (signed int) AdWertRollFilter / 8;
RohMesswertNick = MesswertNick;
RohMesswertRoll = MesswertRoll;
 
// Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++
MesswertNick = (signed int) AdWertNickFilter / 8;
MesswertRoll = (signed int) AdWertRollFilter / 8;
RohMesswertNick = MesswertNick;
RohMesswertRoll = MesswertRoll;
// Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++
Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L;
Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L;
IntegralAccNick += ACC_AMPLIFY * AdWertAccNick;
IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll;
NaviAccNick += AdWertAccNick;
NaviAccRoll += AdWertAccRoll;
NaviCntAcc++;
IntegralAccZ += Aktuell_az - NeutralAccZ;
 
//++++++++++++++++++++++++++++++++++++++++++++++++
// ADC einschalten
ANALOG_ON;
IntegralAccNick += ACC_AMPLIFY * AdWertAccNick;
IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll;
NaviAccNick += AdWertAccNick;
NaviAccRoll += AdWertAccRoll;
NaviCntAcc++;
IntegralAccZ += Aktuell_az - NeutralAccZ;
//++++++++++++++++++++++++++++++++++++++++++++++++
// ADC einschalten
ANALOG_ON;
AdReady = 0;
//++++++++++++++++++++++++++++++++++++++++++++++++
 
if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L;
//++++++++++++++++++++++++++++++++++++++++++++++++
if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L;
else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L;
else winkel_roll = Mess_IntegralRoll;
 
if(Mess_IntegralNick > 93000L) winkel_nick = 93000L;
if(Mess_IntegralNick > 93000L) winkel_nick = 93000L;
else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L;
else winkel_nick = Mess_IntegralNick;
 
// Gier ++++++++++++++++++++++++++++++++++++++++++++++++
Mess_Integral_Gier += MesswertGier;
ErsatzKompass += MesswertGier;
// Kopplungsanteil +++++++++++++++++++++++++++++++++++++
if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV))
{
tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
tmpl3 *= Parameter_AchsKopplung2; //65
tmpl3 /= 4096L;
tmpl4 = (MesswertNick * winkel_roll) / 2048L;
tmpl4 *= Parameter_AchsKopplung2; //65
tmpl4 /= 4096L;
KopplungsteilNickRoll = tmpl3;
KopplungsteilRollNick = tmpl4;
tmpl4 -= tmpl3;
ErsatzKompass += tmpl4;
if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen
 
tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L;
tmpl *= Parameter_AchsKopplung1; // 90
tmpl /= 4096L;
tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L;
tmpl2 *= Parameter_AchsKopplung1;
tmpl2 /= 4096L;
if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1;
//MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
}
else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
TrimRoll = tmpl - tmpl2 / 100L;
TrimNick = -tmpl2 + tmpl / 100L;
// Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++
if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag
if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
Mess_IntegralRoll2 += MesswertRoll + TrimRoll;
Mess_IntegralRoll += MesswertRoll + TrimRoll - 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;
}
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
Mess_IntegralNick2 += MesswertNick + TrimNick;
Mess_IntegralNick += MesswertNick + TrimNick - 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;
}
 
Integral_Gier = Mess_Integral_Gier;
IntegralNick = Mess_IntegralNick;
IntegralRoll = Mess_IntegralRoll;
IntegralNick2 = Mess_IntegralNick2;
IntegralRoll2 = Mess_IntegralRoll2;
 
#define D_LIMIT 128
 
MesswertNick = HiResNick / 8;
MesswertRoll = HiResRoll / 8;
 
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 > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; }
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 > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; }
 
if(Parameter_Gyro_D)
{
d2Nick = HiResNick - oldNick;
oldNick = (oldNick + HiResNick)/2;
if(d2Nick > D_LIMIT) d2Nick = D_LIMIT;
else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT;
 
d2Roll = HiResRoll - oldRoll;
oldRoll = (oldRoll + HiResRoll)/2;
if(d2Roll > D_LIMIT) d2Roll = D_LIMIT;
else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT;
 
MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16;
MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16;
HiResNick += (d2Nick * (signed int) Parameter_Gyro_D);
HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D);
}
 
if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
 
if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
{
if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256);
else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256);
else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256);
}
// Gier ++++++++++++++++++++++++++++++++++++++++++++++++
Mess_Integral_Gier += MesswertGier;
ErsatzKompass += MesswertGier;
// Kopplungsanteil +++++++++++++++++++++++++++++++++++++
if(!Looping_Nick && !Looping_Roll && (Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV))
{
tmpl3 = (MesswertRoll * winkel_nick) / 2048L;
tmpl3 *= Parameter_AchsKopplung2; //65
tmpl3 /= 4096L;
tmpl4 = (MesswertNick * winkel_roll) / 2048L;
tmpl4 *= Parameter_AchsKopplung2; //65
tmpl4 /= 4096L;
KopplungsteilNickRoll = tmpl3;
KopplungsteilRollNick = tmpl4;
tmpl4 -= tmpl3;
ErsatzKompass += tmpl4;
if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen
tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L;
tmpl *= Parameter_AchsKopplung1; // 90
tmpl /= 4096L;
tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L;
tmpl2 *= Parameter_AchsKopplung1;
tmpl2 /= 4096L;
if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1;
//MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256;
}
else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0;
TrimRoll = tmpl - tmpl2 / 100L;
TrimNick = -tmpl2 + tmpl / 100L;
// Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++
if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag
if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR;
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
Mess_IntegralRoll2 += MesswertRoll + TrimRoll;
Mess_IntegralRoll += MesswertRoll + TrimRoll - 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;
}
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
Mess_IntegralNick2 += MesswertNick + TrimNick;
Mess_IntegralNick += MesswertNick + TrimNick - 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;
}
Integral_Gier = Mess_Integral_Gier;
IntegralNick = Mess_IntegralNick;
IntegralRoll = Mess_IntegralRoll;
IntegralNick2 = Mess_IntegralNick2;
IntegralRoll2 = Mess_IntegralRoll2;
#define D_LIMIT 128
MesswertNick = HiResNick / 8;
MesswertRoll = HiResRoll / 8;
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 > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; }
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 > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; }
if(Parameter_Gyro_D)
{
d2Nick = HiResNick - oldNick;
oldNick = (oldNick + HiResNick)/2;
if(d2Nick > D_LIMIT) d2Nick = D_LIMIT;
else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT;
d2Roll = HiResRoll - oldRoll;
oldRoll = (oldRoll + HiResRoll)/2;
if(d2Roll > D_LIMIT) d2Roll = D_LIMIT;
else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT;
MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16;
MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16;
HiResNick += (d2Nick * (signed int) Parameter_Gyro_D);
HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D);
}
if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L;
if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L;
if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
{
if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256);
else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256);
if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256);
else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256);
}
}
 
//############################################################################
533,32 → 535,32
void SendMotorData(void)
//############################################################################
{
unsigned char i;
if(!MotorenEin)
{
FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY);
for(i=0;i<MAX_MOTORS;i++)
{
if(!PC_MotortestActive) MotorTest[i] = 0;
Motor[i].SetPoint = MotorTest[i];
Motor[i].SetPointLowerBits = 0;
/*
Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution
Motor[i].SetPointLowerBits = MotorTest[i] % 4;
*/
}
if(PC_MotortestActive) PC_MotortestActive--;
}
unsigned char i;
if(!MotorenEin)
{
FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY);
for(i=0;i<MAX_MOTORS;i++)
{
if(!PC_MotortestActive) MotorTest[i] = 0;
Motor[i].SetPoint = MotorTest[i];
Motor[i].SetPointLowerBits = 0;
/*
Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution
Motor[i].SetPointLowerBits = MotorTest[i] % 4;
*/
}
if(PC_MotortestActive) PC_MotortestActive--;
}
else FC_StatusFlags |= FC_STATUS_MOTOR_RUN;
 
if(I2C_TransferActive)
{
I2C_TransferActive = 0; // enable for the next time
}
if(I2C_TransferActive)
{
I2C_TransferActive = 0; // enable for the next time
}
else
{
motor_write = 0;
I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode
{
motor_write = 0;
I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode
}
}
 
569,107 → 571,111
void ParameterZuordnung(void)
//############################################################################
{
unsigned char tmp,i;
for(i=0;i<8;i++)
{
int tmp2;
tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i];
tmp2 = PPM_in[tmp] + 127;
if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0;
 
if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter
else
if(tmp2 != Poti[i])
{
Poti[i] += (tmp2 - Poti[i]) / 4;
if(Poti[i] > tmp2) Poti[i]--;
else Poti[i]++;
}
unsigned char tmp,i;
for(i=0;i<8;i++)
{
int tmp2;
tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i];
tmp2 = PPM_in[tmp] + 127;
if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0;
if(tmp == 25) Poti[i] = tmp2; // 25 = WaypointEvent channel -> no filter
else
if(tmp2 != Poti[i])
{
Poti[i] += (tmp2 - Poti[i]) / 4;
if(Poti[i] > tmp2) Poti[i]--;
else Poti[i]++;
}
}
CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255);
CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255);
 
if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16)
else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;}
else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3);
 
if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;}
else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17)
else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4);
 
CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5);
CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe);
CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung);
CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z);
CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung);
CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I);
CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D);
CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P);
CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I);
CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor);
CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1);
CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2);
CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3);
CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4);
CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5);
CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6);
CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7);
CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8);
CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl);
CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl);
CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit);
CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1);
CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2);
CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection);
CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude);
if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude;
Parameter_GlobalConfig = EE_Parameter.GlobalConfig;
Parameter_ExtraConfig = EE_Parameter.ExtraConfig;
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
Ki = 10300 / (Parameter_I_Faktor + 1);
MAX_GAS = EE_Parameter.Gas_Max;
MIN_GAS = EE_Parameter.Gas_Min;
 
tmp = EE_Parameter.CareFreeModeControl;
if(tmp > 50)
{
CareFree = 1;
if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0;
if(carefree_old != CareFree)
{
if(carefree_old < 3)
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; }
else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; }
#else
if(CareFree) beeptime = 1500;
else beeptime = 200;
#endif
NeueKompassRichtungMerken = 5;
carefree_old = CareFree;
} else carefree_old--;
}
if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE;
}
else
{
CareFree = 0;
carefree_old = 10;
}
 
if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert
CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100);
CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100);
CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255);
CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255);
if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;} // Out1 (J16)
else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 140; else Parameter_Servo3 = 70;}
else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3);
if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;}
else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 140; else Parameter_Servo4 = 70;} // Out2 (J17)
else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4);
CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5);
CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe);
CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung);
CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z);
CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung);
CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I);
CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D);
CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P);
CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I);
CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor);
CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1);
CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2);
CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3);
CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4);
CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5);
CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6);
CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7);
CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8);
CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl);
CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl);
CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit);
CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1);
CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2);
CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection);
CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude);
if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude;
Parameter_GlobalConfig = EE_Parameter.GlobalConfig;
Parameter_ExtraConfig = EE_Parameter.ExtraConfig;
// CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255);
CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability);
CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl);
Ki = 10300 / (Parameter_I_Faktor + 1);
MAX_GAS = EE_Parameter.Gas_Max;
MIN_GAS = EE_Parameter.Gas_Min;
tmp = EE_Parameter.CareFreeModeControl;
if(tmp > 50)
{
beeptime = 15000;
BeepMuster = 0xA400;
CareFree = 0;
}
if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE;
CareFree = 1;
if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0;
if(carefree_old != CareFree)
{
if(carefree_old < 3)
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(CareFree)
{ beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; }
else
{ beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; }
#else
if(CareFree)
beeptime = 1500;
else
beeptime = 200;
#endif
NeueKompassRichtungMerken = 5;
carefree_old = CareFree;
} else carefree_old--;
}
if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE;
}
else
{
CareFree = 0;
carefree_old = 10;
}
if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert
{
beeptime = 15000;
BeepMuster = 0xA400;
CareFree = 0;
}
if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE;
}
 
//############################################################################
677,837 → 683,981
void MotorRegler(void)
//############################################################################
{
int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2;
int GierMischanteil,GasMischanteil;
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 signed char move_safety_switch = 0;
static long ausgleichNick, ausgleichRoll;
int IntegralNickMalFaktor,IntegralRollMalFaktor;
unsigned char i;
int pd_ergebnis_nick,pd_ergebnis_roll;
int GierMischanteil,GasMischanteil;
static long sollGier = 0;
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 signed char move_safety_switch = 0;
static long ausgleichNick, ausgleichRoll;
int IntegralNickMalFaktor,IntegralRollMalFaktor;
unsigned char i;
Mittelwert();
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gaswert ermitteln
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gaswert ermitteln
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE)
{
if(HoverGas && HoverGas < 150 * STICK_GAIN)
{
HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas
}
else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet
} else HooverGasEmergencyPercent = EE_Parameter.NotGas;
if(HoverGas && HoverGas < 150 * STICK_GAIN)
{
HoverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas
}
else HoverGasEmergencyPercent = 45; // default if the Hovergas was could not calculated yet
} else HoverGasEmergencyPercent = EE_Parameter.NotGas;
GasMischanteil = StickGas;
if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
 
GasMischanteil = StickGas;
if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Empfang schlecht
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE))
{
if(RcLostTimer) RcLostTimer--;
else
{
MotorenEin = 0;
modell_fliegt = 0;
FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY);
}
ROT_ON;
if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken
{
GasMischanteil = HooverGasEmergencyPercent;
FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING;
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)
{
if(SenderOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE))
{
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Empfang schlecht
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(RcLostTimer) RcLostTimer--;
else
{
MotorenEin = 0;
modell_fliegt = 0;
FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY);
}
ROT_ON;
if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken
{
GasMischanteil = HoverGasEmergencyPercent;
FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING;
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)
{
FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING;
RcLostTimer = EE_Parameter.NotGasZeit * 50;
if(GasMischanteil > 40 && MotorenEin)
{
if(modell_fliegt < 0xffff) modell_fliegt++;
}
if((modell_fliegt < 256))
{
SummeNick = 0;
SummeRoll = 0;
sollGier = 0;
Mess_Integral_Gier = 0;
} else FC_StatusFlags |= FC_STATUS_FLY;
 
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
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
SpeakHoTT = SPEAK_CALIBRATE;
#endif
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;
SetActiveParamSet(setting); // aktiven Datensatz merken
}
if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70)
{
WinkelOut.CalcState = 1;
CalibrationDone = 0;
beeptime = 1000;
}
else
{
ParamSet_ReadFromEEProm(GetActiveParamSet());
LipoDetection(0);
LIBFC_ReceiverInit(EE_Parameter.Receiver);
if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?
{
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
}
// ServoActive = 0;
SetNeutral(0);
CalibrationDone = 1;
ServoActive = 1;
DDRD |=0x80; // enable J7 -> Servo signal
Piep(GetActiveParamSet(),120);
}
}
}
else
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern
{
if(++delay_neutral > 200) // nicht sofort
{
MotorenEin = 0;
delay_neutral = 0;
modell_fliegt = 0;
SetNeutral(1);
CalibrationDone = 1;
Piep(GetActiveParamSet(),120);
}
}
else delay_neutral = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gas ist unten
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120)
{
if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100;
else
RcLostTimer = EE_Parameter.NotGasZeit * 50;
if(GasMischanteil > 40 && MotorenEin)
{
if(modell_fliegt < 0xffff) modell_fliegt++;
}
if((modell_fliegt < 256))
{
SummeNick = 0;
SummeRoll = 0;
sollGier = 0;
Mess_Integral_Gier = 0;
} else
FC_StatusFlags |= FC_STATUS_FLY;
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
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
SpeakHoTT = SPEAK_CALIBRATE;
#endif
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;
SetActiveParamSet(setting); // aktiven Datensatz merken
}
if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70)
{
WinkelOut.CalcState = 1;
CalibrationDone = 0;
beeptime = 1000;
}
else
{
ParamSet_ReadFromEEProm(GetActiveParamSet());
LipoDetection(0);
LIBFC_ReceiverInit(EE_Parameter.Receiver);
if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?
{
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
}
// ServoActive = 0;
SetNeutral(0);
CalibrationDone = 1;
ServoActive = 1;
DDRD |=0x80; // enable J7 -> Servo signal
Piep(GetActiveParamSet(),120);
}
}
}
else
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern
{
if(++delay_neutral > 200) // nicht sofort
{
MotorenEin = 0;
delay_neutral = 0;
modell_fliegt = 0;
SetNeutral(1);
CalibrationDone = 1;
Piep(GetActiveParamSet(),120);
}
}
else delay_neutral = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gas ist unten
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120)
{
if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100;
else
if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100;
// Motoren Starten
if(!MotorenEin)
{
if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0)))
|| (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100)))
// Motoren Starten
if(!MotorenEin)
{
if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0)))
|| (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100)))
{
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Einschalten
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START;
if(++delay_einschalten > 253)
{
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Einschalten
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START;
if(++delay_einschalten > 253)
delay_einschalten = 0;
if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode)
{
delay_einschalten = 0;
if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode)
{
modell_fliegt = 1;
MotorenEin = 1;
sollGier = 0;
Mess_Integral_Gier = 0;
Mess_Integral_Gier2 = 0;
Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
Mess_IntegralNick2 = IntegralNick;
Mess_IntegralRoll2 = IntegralRoll;
SummeNick = 0;
SummeRoll = 0;
// ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2;
NeueKompassRichtungMerken = 100; // 2 sekunden
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
modell_fliegt = 1;
MotorenEin = 1;
sollGier = 0;
Mess_Integral_Gier = 0;
Mess_Integral_Gier2 = 0;
Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick;
Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll;
Mess_IntegralNick2 = IntegralNick;
Mess_IntegralRoll2 = IntegralRoll;
SummeNick = 0;
SummeRoll = 0;
// ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2;
NeueKompassRichtungMerken = 100; // 2 sekunden
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
SpeakHoTT = SPEAK_STARTING;
#endif
}
else
{
beeptime = 1500; // indicate missing calibration
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
#endif
}
else
{
beeptime = 1500; // indicate missing calibration
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION;
#endif
}
#endif
}
}
else delay_einschalten = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Auschalten
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
else // only if motors are running
else delay_einschalten = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Auschalten
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
else // only if motors are running
{
// if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0))
if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0)))
|| (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100)))
{
// if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0))
if((((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0)))
|| (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100)))
if(++delay_ausschalten > 250) // nicht sofort
{
if(++delay_ausschalten > 250) // nicht sofort
{
MotorenEin = 0;
delay_ausschalten = 0;
modell_fliegt = 0;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
SpeakHoTT = SPEAK_MK_OFF;
#endif
}
MotorenEin = 0;
delay_ausschalten = 0;
modell_fliegt = 0;
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
SpeakHoTT = SPEAK_MK_OFF;
#endif
}
else delay_ausschalten = 0;
}
}
else // gas not at minimum
else delay_ausschalten = 0;
}
}
else // gas not at minimum
move_safety_switch = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// neue Werte von der Funke
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
{
static int stick_nick,stick_roll;
unsigned char stick_p;
ParameterZuordnung();
stick_p = EE_Parameter.Stick_P;
stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4;
stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4;
stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// CareFree und freie Wahl der vorderen Richtung
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(CareFree)
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// neue Werte von der Funke
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
{
signed int nick, roll;
nick = stick_nick / 4;
roll = stick_roll / 4;
StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4);
StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4);
static int stick_nick,stick_roll;
unsigned char stick_p;
ParameterZuordnung();
stick_p = EE_Parameter.Stick_P;
stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * stick_p) / 4;
stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * stick_p) / 4;
stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// CareFree und freie Wahl der vorderen Richtung
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(CareFree)
{
signed int nick, roll;
nick = stick_nick / 4;
roll = stick_roll / 4;
StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4);
StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4);
}
else
{
FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6];
FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle];
StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8;
StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8;
}
StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
if(StickGier > 4) StickGier -= 4; else
if(StickGier < -4) StickGier += 4; else StickGier = 0;
if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger
{
StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16;
StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16;
}
StickNick -= GPS_Nick;
StickRoll -= GPS_Roll;
StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127;
GyroFaktor = (Parameter_Gyro_P + 10.0);
IntegralFaktor = Parameter_Gyro_I;
GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0);
IntegralFaktorGier = Parameter_Gyro_Gier_I;
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//+ Analoge Steuerung per Seriell
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 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(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0;
if(abs(StickNick/STICK_GAIN) > MaxStickNick)
{
MaxStickNick = abs(StickNick)/STICK_GAIN;
if(MaxStickNick > 100) MaxStickNick = 100;
}
else MaxStickNick--;
if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
{
MaxStickRoll = abs(StickRoll)/STICK_GAIN;
if(MaxStickRoll > 100) MaxStickRoll = 100;
}
else MaxStickRoll--;
if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Looping?
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & 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.BitConfig & 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.BitConfig & 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.BitConfig & 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(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(Looping_Roll || Looping_Nick)
{
if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
TrichterFlug = 1;
}
else
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Bei Empfangsausfall im Flug
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)
{
FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6];
FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle];
StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8;
StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8;
StickNick = -GPS_Nick;
StickRoll = -GPS_Roll;
StickGas = StickGasHover;
Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER);
Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV;
Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP);
Parameter_HoehenSchalter = 200; // switch on
}
else if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)
{
StickGier = 0;
StickNick = 0;
StickRoll = 0;
GyroFaktor = 90;
IntegralFaktor = 120;
GyroFaktorGier = 90;
IntegralFaktorGier = 120;
Looping_Roll = 0;
Looping_Nick = 0;
}
 
StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]];
if(StickGier > 4) StickGier -= 4; else
if(StickGier < -4) StickGier += 4; else StickGier = 0;
 
if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger
{
StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16;
StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16;
}
 
StickNick -= GPS_Nick;
StickRoll -= GPS_Roll;
StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 127;
 
GyroFaktor = (Parameter_Gyro_P + 10.0);
IntegralFaktor = Parameter_Gyro_I;
GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0);
IntegralFaktorGier = Parameter_Gyro_Gier_I;
 
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//+ Analoge Steuerung per Seriell
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 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(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0;
 
if(abs(StickNick/STICK_GAIN) > MaxStickNick)
{
MaxStickNick = abs(StickNick)/STICK_GAIN;
if(MaxStickNick > 100) MaxStickNick = 100;
}
else MaxStickNick--;
if(abs(StickRoll/STICK_GAIN) > MaxStickRoll)
{
MaxStickRoll = abs(StickRoll)/STICK_GAIN;
if(MaxStickRoll > 100) MaxStickRoll = 100;
}
else MaxStickRoll--;
if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Looping?
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & 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.BitConfig & 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.BitConfig & 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.BitConfig & 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(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(Looping_Roll || Looping_Nick)
{
if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
TrichterFlug = 1;
}
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Bei Empfangsausfall im Flug
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)
{
StickNick = -GPS_Nick;
StickRoll = -GPS_Roll;
StickGas = StickGasHover;
Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER);
Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER | CFG_GPS_AKTIV;
Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP);
Parameter_HoehenSchalter = 200; // switch on
}
else
if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)
{
StickGier = 0;
StickNick = 0;
StickRoll = 0;
GyroFaktor = 90;
IntegralFaktor = 120;
GyroFaktorGier = 90;
IntegralFaktorGier = 120;
Looping_Roll = 0;
Looping_Nick = 0;
}
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Integrale auf ACC-Signal abgleichen
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#define ABGLEICH_ANZAHL 256L
 
MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren
MittelIntegralRoll += IntegralRoll;
MittelIntegralNick2 += IntegralNick2;
MittelIntegralRoll2 += IntegralRoll2;
 
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;
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
{
long tmp_long, tmp_long2;
if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/)
{
tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN));
tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR));
tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
if((MaxStickNick > 64) || (MaxStickRoll > 64))
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Integrale auf ACC-Signal abgleichen
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#define ABGLEICH_ANZAHL 256L
MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren
MittelIntegralRoll += IntegralRoll;
MittelIntegralNick2 += IntegralNick2;
MittelIntegralRoll2 += IntegralRoll2;
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;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin))
{
long tmp_long, tmp_long2;
if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/)
{
tmp_long /= 2;
tmp_long2 /= 2;
tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN));
tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR));
tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16);
if((MaxStickNick > 64) || (MaxStickRoll > 64))
{
tmp_long /= 2;
tmp_long2 /= 2;
}
if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
{
tmp_long /= 3;
tmp_long2 /= 3;
}
long kmf = FromNaviCtrl_Value.Kalman_MaxFusion;
if(tmp_long > (long) kmf) tmp_long = (long) kmf;
if(tmp_long < (long)-kmf) tmp_long = (long)-kmf;
if(tmp_long2 > (long) kmf) tmp_long2 = (long) kmf;
if(tmp_long2 < (long)-kmf) tmp_long2 = (long)-kmf;
}
if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
else
{
tmp_long /= 3;
tmp_long2 /= 3;
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 > 64) || (MaxStickRoll > 64))
{
tmp_long /= 3;
tmp_long2 /= 3;
}
if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
{
tmp_long /= 3;
tmp_long2 /= 3;
}
KompassFusion = 25;
#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;
}
if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion;
if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion;
}
else
{
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 > 64) || (MaxStickRoll > 64))
Mess_IntegralNick -= tmp_long;
Mess_IntegralRoll -= tmp_long2;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 && EE_Parameter.Driftkomp)
{
tmp_long /= 3;
tmp_long2 /= 3;
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
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich;
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1))
{
LageKorrekturNick /= 2;
LageKorrekturRoll /= 2;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gyro-Drift ermitteln
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
MittelIntegralNick2 /= ABGLEICH_ANZAHL;
MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
long tmp_long = IntegralNick2 - IntegralNick;
long tmp_long2 = IntegralRoll2 - IntegralRoll;
IntegralFehlerNick = tmp_long;
IntegralFehlerRoll = tmp_long2;
Mess_IntegralNick2 -= IntegralFehlerNick;
Mess_IntegralRoll2 -= IntegralFehlerRoll;
if(EE_Parameter.Driftkomp)
{
if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; }
if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; }
}
GierGyroFehler = 0;
#define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2)
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16
#define BEWEGUNGS_LIMIT 20000
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
cnt = 1;// + labs(IntegralFehlerNick) / 4096;
if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4;
if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
{
if(IntegralFehlerNick > FEHLER_LIMIT2)
{
if(last_n_p)
{
cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
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 / 8);
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 = 100;
}
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt;
if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt;
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
cnt = 1;// + labs(IntegralFehlerRoll) / 4096;
if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4;
if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
{
if(IntegralFehlerRoll > FEHLER_LIMIT2)
{
if(last_r_p)
{
cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
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 / 8);
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 = 100;
}
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt;
if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt;
}
if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)
else
{
tmp_long /= 3;
tmp_long2 /= 3;
LageKorrekturRoll = 0;
LageKorrekturNick = 0;
TrichterFlug = 0;
}
KompassFusion = 25;
#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;
}
 
Mess_IntegralNick -= tmp_long;
Mess_IntegralRoll -= tmp_long2;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 && EE_Parameter.Driftkomp)
{
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
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++
IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich;
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
 
LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
 
if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1))
{
LageKorrekturNick /= 2;
LageKorrekturRoll /= 2;
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gyro-Drift ermitteln
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
MittelIntegralNick2 /= ABGLEICH_ANZAHL;
MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
tmp_long = IntegralNick2 - IntegralNick;
tmp_long2 = IntegralRoll2 - IntegralRoll;
 
IntegralFehlerNick = tmp_long;
IntegralFehlerRoll = tmp_long2;
Mess_IntegralNick2 -= IntegralFehlerNick;
Mess_IntegralRoll2 -= IntegralFehlerRoll;
 
if(EE_Parameter.Driftkomp)
{
if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; }
if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; }
}
GierGyroFehler = 0;
 
#define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2)
#define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16
#define BEWEGUNGS_LIMIT 20000
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++
cnt = 1;// + labs(IntegralFehlerNick) / 4096;
if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4;
if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
{
if(IntegralFehlerNick > FEHLER_LIMIT2)
{
if(last_n_p)
{
cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8);
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 / 8);
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 = 100;
}
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt;
if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt;
 
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++
cnt = 1;// + labs(IntegralFehlerRoll) / 4096;
if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4;
if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8))
{
if(IntegralFehlerRoll > FEHLER_LIMIT2)
{
if(last_r_p)
{
cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8);
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 / 8);
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 = 100;
}
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift;
if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt;
if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt;
}
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;
} // ZaehlMessungen >= ABGLEICH_ANZAHL
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gieren
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(abs(StickGier) > 3) // war 15
{
// KompassSignalSchlecht = 1000;
if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX))
{
NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen
};
}
tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx²
tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4;
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;
} // ZaehlMessungen >= ABGLEICH_ANZAHL
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gieren
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(abs(StickGier) > 3) // war 15
{
// KompassSignalSchlecht = 1000;
if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX))
{
NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen
};
}
int tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx²
tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4;
tmp_int += CompassGierSetpoint;
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
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV))
{
if(CalculateCompassTimer-- == 1)
{
int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt
CalculateCompassTimer = 13; // falls keine Navi-Daten
// max. Korrekturwert schätzen
w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
v = abs(IntegralRoll /512);
if(v > w) w = v; // grösste Neigung ermitteln
// korrektur = w / 4 + 1;
korrektur = w / 8 + 2;
ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR;
// Kompassfehlerwert bestimmen
fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180;
// GIER_GRAD_FAKTOR ist ca. 1200
// Kompasswert einloggen
if(KompassSignalSchlecht) KompassSignalSchlecht--;
else
if(w < 25)
{
GierGyroFehler += fehler;
if(NeueKompassRichtungMerken)
{
if(--NeueKompassRichtungMerken == 0)
{
KompassSollWert = ErsatzKompassInGrad;
}
}
}
// Kompass fusionieren
if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur;
// MK Gieren
if(!NeueKompassRichtungMerken)
{
r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180;
v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten
CompassGierSetpoint = v / 16;
}
else CompassGierSetpoint = 0;
} // CalculateCompassTimer
}
else CompassGierSetpoint = 0;
 
//DebugOut.Analog[16] = KompassFusion;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;};
 
if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
 
#define TRIM_MAX 200
if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
 
MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
 
// Maximalwerte abfangen
#define MAX_SENSOR (4096)
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;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Höhenregelung
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
GasMischanteil *= STICK_GAIN;
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
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV))
{
if(CalculateCompassTimer-- == 1)
{
int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt
CalculateCompassTimer = 13; // falls keine Navi-Daten
// max. Korrekturwert schätzen
w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
v = abs(IntegralRoll /512);
if(v > w) w = v; // grösste Neigung ermitteln
// korrektur = w / 4 + 1;
korrektur = w / 8 + 2;
ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR;
// Kompassfehlerwert bestimmen
fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180;
// GIER_GRAD_FAKTOR ist ca. 1200
// Kompasswert einloggen
if(KompassSignalSchlecht) KompassSignalSchlecht--;
else
if(w < 25)
{
GierGyroFehler += fehler;
if(NeueKompassRichtungMerken)
{
if(--NeueKompassRichtungMerken == 0)
{
KompassSollWert = ErsatzKompassInGrad;
}
}
}
// Kompass fusionieren
if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur;
// MK Gieren
if(!NeueKompassRichtungMerken)
{
r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180;
v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten
CompassGierSetpoint = v / 16;
}
else CompassGierSetpoint = 0;
} // CalculateCompassTimer
}
else CompassGierSetpoint = 0;
//DebugOut.Analog[16] = KompassFusion;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;};
if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0;
if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0;
#define TRIM_MAX 200
if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX;
if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX;
MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN);
MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN);
MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN));
// Maximalwerte abfangen
#define MAX_SENSOR (4096)
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;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Höhenregelung
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen
GasMischanteil *= STICK_GAIN;
// if height control is activated
if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung
if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung
GasMischanteil = HoehenRegelung(GasMischanteil);
else
{
#define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging
#define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging
// set undefined state to indicate vario off
FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
} // EOF no height control
// Linits the maximum gas in case of "Out of Range emergency landing"
if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING)
{
if(GasMischanteil/STICK_GAIN > HoverGasEmergencyPercent && HoverGas) GasMischanteil = HoverGasEmergencyPercent * STICK_GAIN;
SollHoehe = HoehenWert; // update setpoint to current heigth
beeptime = 15000;
BeepMuster = 0x0E00;
}
// limit gas to parameter setting
LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// all BL-Ctrl connected?
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors
if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase
{
modell_fliegt = 1;
GasMischanteil = (MIN_GAS + 10) * STICK_GAIN;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Mischer und PI-Regler
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DebugOut.Analog[7] = GasMischanteil;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gier-Anteil
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier
#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));
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Nick-Achse
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DiffNick = MesswertNick - StickNick; // Differenz bestimmen
if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - 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);
if(EE_Parameter.Gyro_Stability <= 8)
pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick
else
pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern
pd_ergebnis_nick += SummeNick / Ki;
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int;
if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Roll-Achse
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen
if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
else SummeRoll += DiffRoll; // I-Anteil bei HH
if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L);
if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
if(EE_Parameter.Gyro_Stability <= 8)
pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll
else
pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern
pd_ergebnis_roll += SummeRoll / Ki;
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int;
if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Universal Mixer
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
for(i=0; i<MAX_MOTORS; i++)
{
signed int tmp_int;
if(Mixer.Motor[i][0] > 0)
{
// Gas
if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
// Nick
if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick;
else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick;
else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
// Roll
if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll;
else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll;
else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
// Gier
if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil;
else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil;
else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing
// else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing
else
{
if(EE_Parameter.MotorSmooth == 0)
{
tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing
}
else // 1 means tmp_int = tmp_int;
if(EE_Parameter.MotorSmooth > 1)
{
// If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value.
tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth);
}
}
LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4);
Motor[i].SetPoint = tmp_int / 4;
Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total)
tmp_motorwert[i] = tmp_int;
}
else
{
Motor[i].SetPoint = 0;
Motor[i].SetPointLowerBits = 0;
}
}
}
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
#define OPA_OFFSET_STEP 15
#else
#define OPA_OFFSET_STEP 10
#endif
int HCGas, HeightDeviation = 0,GasReduction = 0;
static int HeightTrimming = 0; // rate for change of height setpoint
static int FilterHCGas = 0;
static unsigned long HoverGasFilter = 0;
static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0;
int CosAttitude; // for projection of hoover gas
 
// get the current hooverpoint
DebugOut.Analog[21] = HoverGas;
 
// Expand the measurement
// measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
if(!BaroExpandActive)
{
if(MessLuftdruck > 920)
{ // increase offset
if(OCR0A < (255 - OPA_OFFSET_STEP))
{
static int HoehenRegelung(int GasMischanteil)
{
#define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging
#define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
#define OPA_OFFSET_STEP 15
#else
#define OPA_OFFSET_STEP 10
#endif
static int sHeightTrimming = 0; // rate for change of height setpoint
static int sFilterHCGas = 0;
static unsigned long sHoverGasFilter = 0;
static unsigned char sDelay = 100, sBaroAtUpperLimit = 0, sBaroAtLowerLimit = 0;
// get the current hoverpoint
DebugOut.Analog[21] = HoverGas;
// Expand the measurement
// measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs
if(!BaroExpandActive)
{
if(MessLuftdruck > 920)
{ // increase offset
if(OCR0A < (255 - OPA_OFFSET_STEP))
{
ExpandBaro -= 1;
OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down
beeptime = 300;
BaroExpandActive = 350;
}
else
{
BaroAtLowerLimit = 1;
}
}
// measurement of air pressure close to lower limit and
else
{
sBaroAtLowerLimit = 1;
}
}
// measurement of air pressure close to lower limit and
else
if(MessLuftdruck < 100)
{ // decrease offset
if(OCR0A > OPA_OFFSET_STEP)
{
ExpandBaro += 1;
OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
beeptime = 300;
BaroExpandActive = 350;
}
else
{
BaroAtUpperLimit = 1;
}
if(OCR0A > OPA_OFFSET_STEP)
{
ExpandBaro += 1;
OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up
beeptime = 300;
BaroExpandActive = 350;
}
else
{
sBaroAtUpperLimit = 1;
}
}
else
{
BaroAtUpperLimit = 0;
BaroAtLowerLimit = 0;
sBaroAtUpperLimit = 0;
sBaroAtLowerLimit = 0;
}
}
else // delay, because of expanding the Baro-Range
{
// now clear the D-values
SummenHoehe = HoehenWert * SM_FILTER;
VarioMeter = 0;
BaroExpandActive--;
}
 
// if height control is activated by an rc channel
if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert
{ // check if parameter is less than activation threshold
if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position
{ //height control not active
if(!delay--)
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(HoehenReglerAktiv && !SpeakHoTT) SpeakHoTT = SPEAK_ALTITUDE_OFF;
#endif
HoehenReglerAktiv = 0; // disable height control
SollHoehe = HoehenWert; // update SetPoint with current reading
delay = 1;
}
}
else // delay, because of expanding the Baro-Range
{
// now clear the D-values
SummenHoehe = HoehenWert * SM_FILTER;
VarioMeter = 0;
BaroExpandActive--;
}
// if height control is activated by an rc channel
if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert
{ // check if parameter is less than activation threshold
if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position
{ //height control not active
if(!sDelay--)
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(HoehenReglerAktiv && !SpeakHoTT) SpeakHoTT = SPEAK_ALTITUDE_OFF;
#endif
HoehenReglerAktiv = 0; // disable height control
SollHoehe = HoehenWert; // update SetPoint with current reading
sDelay = 1;
}
else
}
else
if(Parameter_HoehenSchalter > 70)
{ //height control is activated
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(!HoehenReglerAktiv && !SpeakHoTT) SpeakHoTT = SPEAK_ALTITUDE_ON;
#endif
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(!HoehenReglerAktiv && !SpeakHoTT) SpeakHoTT = SPEAK_ALTITUDE_ON;
#endif
HoehenReglerAktiv = 1; // enable height control
delay = 200;
sDelay = 200;
}
}
else // no switchable height control
{
SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung;
HoehenReglerAktiv = 1;
}
 
// calculate cos of nick and roll angle used for projection of the vertical hoover gas
tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg
tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg
CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude
VarioCharacter = ' ';
AltitudeSetpointTrimming = 0;
if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
{
#define HEIGHT_CONTROL_STICKTHRESHOLD 15
}
else // no switchable height control
{
SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung;
HoehenReglerAktiv = 1;
}
// calculate cos of nick and roll angle used for projection of the vertical hover gas
int tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg
int tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg
int CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg
LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle
CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude
VarioCharacter = ' ';
AltitudeSetpointTrimming = 0;
if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING))
{
#define HEIGHT_CONTROL_STICKTHRESHOLD 15
// Holger original version
// start of height control algorithm
// the height control is only an attenuation of the actual gas stick.
// I.e. it will work only if the gas stick is higher than the hover gas
// and the hover height will be allways larger than height setpoint.
// and the hover height will always be larger than height setpoint.
int HCGas;
FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL;
if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert)
{ // old version
if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert)
{ // old version
HCGas = GasMischanteil; // take current stick gas as neutral point for the height control
HeightTrimming = 0;
sHeightTrimming = 0;
AltitudeSetpointTrimming = 0;
// set both flags to indicate no vario mode
FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
}
else
{
// alternative height control
// PD-Control with respect to hoover point
// the thrust loss out of horizontal attitude is compensated
// the setpoint will be fine adjusted with the gas stick position
}
else
{
// alternative height control
// PD-Control with respect to hover point
// the thrust loss out of horizontal attitude is compensated
// the setpoint will be fine adjusted with the gas stick position
if(FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying
{ // gas stick is above hoover point
if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit)
{ // gas stick is above hover point
if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !sBaroAtUpperLimit)
{
if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN)
{
1519,14 → 1669,14
if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) AltitudeSetpointTrimming = 0;
else
{
// SollHoehe = (long) Parameter_MaximumAltitude * 100L;
// HeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));
VarioCharacter = '+';
// SollHoehe = (long) Parameter_MaximumAltitude * 100L;
// sHeightTrimming += abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD));
VarioCharacter = '+';
}
WaypointTrimming = 0;
} // gas stick is below hoover point
else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit )
} // gas stick is below hover point
else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !sBaroAtLowerLimit )
{
if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP)
{
1535,7 → 1685,7
}
FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN;
AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
// HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
// sHeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD));
VarioCharacter = '-';
WaypointTrimming = 0;
}
1542,11 → 1692,11
else // Gas Stick in Hover Range
{
VarioCharacter = '=';
if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen
{
if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen
{
FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP;
AltitudeSetpointTrimming = FromNC_AltitudeSpeed;
//HeightTrimming += FromNC_AltitudeSpeed;
//sHeightTrimming += FromNC_AltitudeSpeed;
WaypointTrimming = 10;
VarioCharacter = '^';
if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising
1554,85 → 1704,90
FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN;
SollHoehe = HoehenWert; // update setpoint to current heigth
}
}
else
if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken
{
FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN;
AltitudeSetpointTrimming = -FromNC_AltitudeSpeed;
//HeightTrimming -= FromNC_AltitudeSpeed;
WaypointTrimming = -10;
VarioCharacter = 'v';
if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking
{
FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;
SollHoehe = HoehenWert; // update setpoint to current heigth
}
}
}
else
if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN))
{
if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied
else WaypointTrimming = 0;
FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
HeightTrimming = 0;
if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500;
if(!StartTrigger && HoehenWert > 50)
if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken
{
StartTrigger = 1;
FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN;
AltitudeSetpointTrimming = -FromNC_AltitudeSpeed;
//sHeightTrimming -= FromNC_AltitudeSpeed;
WaypointTrimming = -10;
VarioCharacter = 'v';
if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking
{
FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP;
SollHoehe = HoehenWert; // update setpoint to current heigth
}
}
}
else
if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN))
{
if(!WaypointTrimming)
LIMIT_MIN_MAX(SollHoehe, (HoehenWert-128), (HoehenWert+128)) // max. 1m Unterschied
else
WaypointTrimming = 0;
FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
sHeightTrimming = 0;
if(Parameter_ExtraConfig & CFG2_VARIO_BEEP)
beeptime = 500;
if(!StartTrigger && HoehenWert > 50)
{
StartTrigger = 1;
}
}
}
// Trim height set point
HeightTrimming += AltitudeSetpointTrimming;
if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz
sHeightTrimming += AltitudeSetpointTrimming;
if(abs(sHeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz
{
if(WaypointTrimming)
{
if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint;
else SollHoehe += WaypointTrimming;
}
{
if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10)
SollHoehe = FromNC_AltitudeSetpoint;
else
SollHoehe += WaypointTrimming;
}
else
{
if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3;
else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3;
}
HeightTrimming = 0;
{
if(sHeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3;
else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3;
}
sHeightTrimming = 0;
LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied
if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100;
//update hoover gas stick value when setpoint is shifted
if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0)
{
StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value
StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning;
if(StickGasHover < 70) StickGasHover = 70;
else if(StickGasHover > 150) StickGasHover = 150;
}
//update hover gas stick value when setpoint is shifted
if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0)
{
StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value
StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning;
if(StickGasHover < 70) StickGasHover = 70;
else if(StickGasHover > 150) StickGasHover = 150;
}
}
if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active
if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active
} //if FCFlags & MKFCFLAG_FLY
else
{
SollHoehe = HoehenWert - 400;
if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
else StickGasHover = 120;
HoverGas = GasMischanteil;
VarioCharacter = '.';
}
SollHoehe = HoehenWert - 400;
if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
else StickGasHover = 120;
HoverGas = GasMischanteil;
VarioCharacter = '.';
}
HCGas = HoverGas; // take hover gas (neutral point)
}
if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT))
{
}
if(HoehenWert > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT))
{
// from this point the Heigth Control Algorithm is identical for both versions
int HeightDeviation = 0, GasReduction = 0;
if(BaroExpandActive) // baro range expanding active
{
HCGas = HoverGas; // hover while expanding baro adc range
HeightDeviation = 0;
} // EOF // baro range expanding active
else // valid data from air pressure sensor
{
// ------------------------- P-Part ----------------------------
tmp_long = (HoehenWert - SollHoehe); // positive when too high
int32_t tmp_long = (HoehenWert - SollHoehe); // positive when too high
LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t
HeightDeviation = (int)(tmp_long); // positive when too high
tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part
1643,264 → 1798,132
LIMIT_MIN_MAX(tmp_int, -127, 128);
tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter
LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN);
if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint
if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN))
tmp_int /= 4; // reduce d-part while trimming setpoint
else
if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode
if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode
GasReduction += tmp_int;
} // EOF no baro range expanding
// ------------------------ D-Part 2: ACC-Z Integral ------------------------
if(Parameter_Hoehe_ACC_Wirkung)
{
tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN);
LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN);
GasReduction += tmp_long;
}
if(Parameter_Hoehe_ACC_Wirkung)
{
int32_t tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN);
LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN);
GasReduction += tmp_long;
}
// ------------------------ D-Part 3: GpsZ ----------------------------------
tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L;
LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN);
LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN);
GasReduction += tmp_int;
GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value
GasReduction = ((long)GasReduction * HoverGas) / 512; // scale to the gas value
// ------------------------ ----------------------------------
HCGas -= GasReduction;
// limit deviation from hoover point within the target region
if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero
// limit deviation from hover point within the target region
if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hover gas not zero
{
unsigned int tmp;
tmp = abs(HeightDeviation);
if(tmp <= 60)
{
LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point
}
else
{
tmp = (tmp - 60) / 32;
if(tmp > 15) tmp = 15;
if(HeightDeviation > 0)
unsigned int tmp;
tmp = abs(HeightDeviation);
if(tmp <= 60)
{
tmp = (HoverGasMin * (16 - tmp)) / 16;
LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point
LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hover point
}
else
{
tmp = (HoverGasMax * (tmp + 16)) / 16;
LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point
tmp = (tmp - 60) / 32;
if(tmp > 15) tmp = 15;
if(HeightDeviation > 0)
{
tmp = (HoverGasMin * (16 - tmp)) / 16;
LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hover point
}
else
{
tmp = (HoverGasMax * (tmp + 16)) / 16;
LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hover point
}
}
}
}
// strech control output by inverse attitude projection 1/cos
// + 1/cos(angle) ++++++++++++++++++++++++++
tmp_long2 = (int32_t)HCGas;
// + 1/cos(angle) ++++++++++++++++++++++++++
int32_t tmp_long2 = (int32_t)HCGas;
tmp_long2 *= 8192L;
tmp_long2 /= CosAttitude;
HCGas = (int16_t)tmp_long2;
// update height control gas averaging
FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
sFilterHCGas = (sFilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE;
// limit height control gas pd-control output
LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
LIMIT_MIN_MAX(sFilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN);
// set GasMischanteil to HeightControlGasFilter
if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)
if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)
{ // old version
LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas
GasMischanteil = FilterHCGas;
LIMIT_MAX(sFilterHCGas, GasMischanteil); // nicht mehr als Gas
GasMischanteil = sFilterHCGas;
}
else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode
}
}// EOF height control active
else // HC not active
{
//update hoover gas stick value when HC is not active
if(!EE_Parameter.Hoehe_StickNeutralPoint)
{
StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value
StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning;
}
else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down
FilterHCGas = GasMischanteil;
// set both flags to indicate no vario mode
FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL;
else GasMischanteil = sFilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode
}
// Hover gas estimation by averaging gas control output on small z-velocities
// this is done only if height contol option is selected in global config and aircraft is flying
if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING))
}// EOF height control active
else // HC not active
{
//update hover gas stick value when HC is not active
if(!EE_Parameter.Hoehe_StickNeutralPoint)
{
if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
if(StartTrigger == 1) StartTrigger = 2;
tmp_long2 = (int32_t)GasMischanteil; // take current thrust
tmp_long2 *= CosAttitude; // apply attitude projection
tmp_long2 /= 8192;
// average vertical projected thrust
if(modell_fliegt < 4000) // the first 8 seconds
{ // reduce the time constant of averaging by factor of 4 to get much faster a stable value
HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L);
HoverGasFilter += 16L * tmp_long2;
}
if(modell_fliegt < 8000) // the first 16 seconds
{ // reduce the time constant of averaging by factor of 2 to get much faster a stable value
HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L);
HoverGasFilter += 4L * tmp_long2;
}
else //later
if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending)
{
HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE;
HoverGasFilter += tmp_long2;
}
HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE);
if(EE_Parameter.Hoehe_HoverBand)
{
int16_t band;
band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
HoverGasMin = HoverGas - band;
HoverGasMax = HoverGas + band;
}
else
{ // no limit
HoverGasMin = 0;
HoverGasMax = 1023;
}
StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value
StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning;
}
else
{
StartTrigger = 0;
HoverGasFilter = 0;
HoverGas = 0;
}
}// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL
else
{
// set undefined state to indicate vario off
else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint;
LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down
sFilterHCGas = GasMischanteil;
// set both flags to indicate no vario mode
FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN);
} // EOF no height control
 
// Linits the maximum gas in case of "Out of Range emergency landing"
if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING)
{
if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN;
SollHoehe = HoehenWert; // update setpoint to current heigth
beeptime = 15000;
BeepMuster = 0x0E00;
FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL;
}
// limit gas to parameter setting
LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN);
if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// all BL-Ctrl connected?
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(MissingMotor || Capacity.MinOfMaxPWM != 255 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors
if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase
{
modell_fliegt = 1;
GasMischanteil = (MIN_GAS + 10) * STICK_GAIN;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Mischer und PI-Regler
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DebugOut.Analog[7] = GasMischanteil;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gier-Anteil
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier
#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));
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Nick-Achse
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DiffNick = MesswertNick - StickNick; // Differenz bestimmen
if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - 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);
 
if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick
else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern
pd_ergebnis_nick += SummeNick / Ki;
 
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int;
if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Roll-Achse
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen
if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung
else SummeRoll += DiffRoll; // I-Anteil bei HH
if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L);
if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN);
 
if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll
else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern
pd_ergebnis_roll += SummeRoll / Ki;
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int;
if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Universal Mixer
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
for(i=0; i<MAX_MOTORS; i++)
{
signed int tmp_int;
if(Mixer.Motor[i][0] > 0)
// Hover gas estimation by averaging gas control output on small z-velocities
// this is done only if height contol option is selected in global config and aircraft is flying
if((FC_StatusFlags & FC_STATUS_FLY)) {
if(sHoverGasFilter == 0 || StartTrigger == 1) sHoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation
if(StartTrigger == 1) StartTrigger = 2;
int32_t tmp_long2 = (int32_t)GasMischanteil; // take current thrust
tmp_long2 *= CosAttitude; // apply attitude projection
tmp_long2 /= 8192;
// average vertical projected thrust
if(modell_fliegt < 4000) // the first 8 seconds
{ // reduce the time constant of averaging by factor of 4 to get much faster a stable value
sHoverGasFilter -= sHoverGasFilter/(HOVER_GAS_AVERAGE/16L);
sHoverGasFilter += 16L * tmp_long2;
}
if(modell_fliegt < 8000) // the first 16 seconds
{ // reduce the time constant of averaging by factor of 2 to get much faster a stable value
sHoverGasFilter -= sHoverGasFilter/(HOVER_GAS_AVERAGE/4L);
sHoverGasFilter += 4L * tmp_long2;
}
else //later
if(abs(VarioMeter) < 100 && abs(HoehenWert - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending)
{
sHoverGasFilter -= sHoverGasFilter/HOVER_GAS_AVERAGE;
sHoverGasFilter += tmp_long2;
}
HoverGas = (int16_t)(sHoverGasFilter/HOVER_GAS_AVERAGE);
if(EE_Parameter.Hoehe_HoverBand)
{
// Gas
if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L;
// Nick
if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick;
else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick;
else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L;
// Roll
if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll;
else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll;
else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L;
// Gier
if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil;
else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil;
else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L;
 
if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing
// else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing
else
{
if(EE_Parameter.MotorSmooth == 0)
{
tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing
}
else // 1 means tmp_int = tmp_int;
if(EE_Parameter.MotorSmooth > 1)
{
// If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value.
tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int)/EE_Parameter.MotorSmooth);
}
}
 
LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4);
Motor[i].SetPoint = tmp_int / 4;
Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total)
tmp_motorwert[i] = tmp_int;
int16_t band;
band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range
HoverGasMin = HoverGas - band;
HoverGasMax = HoverGas + band;
}
else
{
Motor[i].SetPoint = 0;
Motor[i].SetPointLowerBits = 0;
{ // no limit
HoverGasMin = 0;
HoverGasMax = 1023;
}
}
else
{
// not flying
StartTrigger = 0;
sHoverGasFilter = 0;
HoverGas = 0;
}
return GasMischanteil;
}
//DebugOut.Analog[16]
/branches/Proxy sensor - tempolo/main.c
300,10 → 300,10
 
if(!UpdateMotor)
{
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
//#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
if(NewSBusData) ProcessSBus();
else
#endif
//#endif
{
if(CalculateServoSignals) CalculateServo();
DatenUebertragung();
/branches/Proxy sensor - tempolo/makefile
1,12 → 1,12
#--------------------------------------------------------------------
# MCU name
MCU = atmega1284p
#MCU = atmega644p
#MCU = atmega1284p
MCU = atmega644p
F_CPU = 20000000
#-------------------------------------------------------------------
VERSION_MAJOR = 0
VERSION_MINOR = 88
VERSION_PATCH = 12
VERSION_PATCH = 13
VERSION_SERIAL_MAJOR = 11 # Serial Protocol
VERSION_SERIAL_MINOR = 0 # Serial Protocol
NC_SPI_COMPATIBLE = 51 # Navi-Kompatibilität
/branches/Proxy sensor - tempolo/sbus.c
57,7 → 57,8
#include "sbus.h"
#include "main.h"
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
// #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
 
unsigned char NewSBusData = 0, sBusBuffer[25];
 
//############################################################################
196,4 → 197,4
NewSBusData = 0;
}
 
#endif
//#endif
/branches/Proxy sensor - tempolo/sbus.h
1,11 → 1,13
#ifndef _SBUS_H
#define _SBUS_H
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
//#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
 
extern unsigned char NewSBusData, sBusBuffer[25];
extern void SbusParser(unsigned char);
extern void SbusUartInit(void);
extern void ProcessSBus(void);
 
//#endif
 
#endif
#endif
/branches/Proxy sensor - tempolo/user_receiver.c
2,6 → 2,7
// Implement your own RC-decoding routines here
//############################################################################
 
#include "sbus.h"
 
//############################################################################
// Initialize the UART here
8,7 → 9,7
//############################################################################
void User_Receiver_Init(void)
{
// SpektrumUartInit(); // or use an existing routine like this
SbusUartInit();
};
 
 
18,6 → 19,6
//############################################################################
void User_RX_Parser(unsigned char udr)
{
SbusParser(udr);
};