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Ignore whitespace Rev 592 → Rev 593

/branches/V0.67g_LED/Hex-Files/Flight-Ctrl_MEGA644_V0_67g.hex
1,1994 → 1,1892
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/branches/V0.67g_LED/fc.c
6,14 → 6,14
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
24,21 → 24,21
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
49,7 → 49,7
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include "main.h"
78,11 → 78,18
unsigned char Notlandung = 0;
unsigned char HoehenReglerAktiv = 0;
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L;
//-------HF-------
unsigned char LED_Switch = 0;
unsigned char LED_flash = 0;
unsigned char LED_1 = 0;
unsigned char LED_2 = 0;
unsigned char LED_2on = 0;
//-------HF-------
 
float GyroFaktor;
float IntegralFaktor;
volatile int DiffNick,DiffRoll;
int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0;
volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
unsigned char MotorWert[5];
volatile unsigned char SenderOkay = 0;
135,45 → 142,45
void SetNeutral(void)
//############################################################################
{
NeutralAccX = 0;
NeutralAccX = 0;
NeutralAccY = 0;
NeutralAccZ = 0;
AdNeutralNick = 0;
AdNeutralRoll = 0;
AdNeutralNick = 0;
AdNeutralRoll = 0;
AdNeutralGier = 0;
Parameter_AchsKopplung1 = 0;
Parameter_AchsGegenKopplung1 = 0;
CalibrierMittelwert();
CalibrierMittelwert();
Delay_ms_Mess(100);
CalibrierMittelwert();
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?
{
{
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
}
 
AdNeutralNick= AdWertNick;
AdNeutralRoll= AdWertRoll;
AdNeutralNick= AdWertNick;
AdNeutralRoll= AdWertRoll;
AdNeutralGier= AdWertGier;
StartNeutralRoll = AdNeutralRoll;
StartNeutralNick = AdNeutralNick;
if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
{
NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY;
NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY;
NeutralAccZ = Aktuell_az;
}
else
else
{
NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]);
NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]);
NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]);
}
Mess_IntegralNick = 0;
 
Mess_IntegralNick = 0;
Mess_IntegralNick2 = 0;
Mess_IntegralRoll = 0;
Mess_IntegralRoll = 0;
Mess_IntegralRoll2 = 0;
Mess_Integral_Gier = 0;
Mess_Integral_Gier = 0;
MesswertNick = 0;
MesswertRoll = 0;
MesswertGier = 0;
182,7 → 189,7
Mess_Integral_Hoch = 0;
KompassStartwert = KompassValue;
GPS_Neutral();
beeptime = 50;
beeptime = 50;
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L;
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L;
ExternHoehenValue = 0;
192,8 → 199,8
// Bearbeitet die Messwerte
void Mittelwert(void)
//############################################################################
{
static signed long tmpl,tmpl2;
{
static signed long tmpl,tmpl2;
MesswertGier = (signed int) AdNeutralGier - AdWertGier;
MesswertRoll = (signed int) AdWertRoll - AdNeutralRoll;
MesswertNick = (signed int) AdWertNick - AdNeutralNick;
226,16 → 233,16
MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109
Mess_IntegralRoll2 += MesswertRoll;
Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll;
if(Mess_IntegralRoll > Umschlag180Roll)
if(Mess_IntegralRoll > Umschlag180Roll)
{
Mess_IntegralRoll = -(Umschlag180Roll - 10000L);
Mess_IntegralRoll2 = Mess_IntegralRoll;
}
}
if(Mess_IntegralRoll <-Umschlag180Roll)
{
Mess_IntegralRoll = (Umschlag180Roll - 10000L);
Mess_IntegralRoll2 = Mess_IntegralRoll;
}
}
if(AdWertRoll < 15) MesswertRoll = -1000;
if(AdWertRoll < 7) MesswertRoll = -2000;
if(PlatinenVersion == 10)
243,7 → 250,7
if(AdWertRoll > 1010) MesswertRoll = +1000;
if(AdWertRoll > 1017) MesswertRoll = +2000;
}
else
else
{
if(AdWertRoll > 2020) MesswertRoll = +1000;
if(AdWertRoll > 2034) MesswertRoll = +2000;
253,16 → 260,16
MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L;
Mess_IntegralNick2 += MesswertNick;
Mess_IntegralNick += MesswertNick - LageKorrekturNick;
if(Mess_IntegralNick > Umschlag180Nick)
if(Mess_IntegralNick > Umschlag180Nick)
{
Mess_IntegralNick = -(Umschlag180Nick - 10000L);
Mess_IntegralNick2 = Mess_IntegralNick;
}
if(Mess_IntegralNick <-Umschlag180Nick)
}
if(Mess_IntegralNick <-Umschlag180Nick)
{
Mess_IntegralNick = (Umschlag180Nick - 10000L);
Mess_IntegralNick2 = Mess_IntegralNick;
}
}
if(AdWertNick < 15) MesswertNick = -1000;
if(AdWertNick < 7) MesswertNick = -2000;
if(PlatinenVersion == 10)
270,7 → 277,7
if(AdWertNick > 1010) MesswertNick = +1000;
if(AdWertNick > 1017) MesswertNick = +2000;
}
else
else
{
if(AdWertNick > 2020) MesswertNick = +1000;
if(AdWertNick > 2034) MesswertNick = +2000;
277,21 → 284,21
}
//++++++++++++++++++++++++++++++++++++++++++++++++
// ADC einschalten
ANALOG_ON;
ANALOG_ON;
//++++++++++++++++++++++++++++++++++++++++++++++++
 
Integral_Gier = Mess_Integral_Gier;
IntegralNick = Mess_IntegralNick;
IntegralRoll = Mess_IntegralRoll;
IntegralNick2 = Mess_IntegralNick2;
IntegralNick2 = Mess_IntegralNick2;
IntegralRoll2 = Mess_IntegralRoll2;
 
if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll)
{
if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200);
else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200);
else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200);
if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200);
else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200);
else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200);
}
if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--;
if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--;
307,7 → 314,7
// Messwerte beim Ermitteln der Nullage
void CalibrierMittelwert(void)
//############################################################################
{
{
// ADC auschalten, damit die Werte sich nicht während der Berechnung ändern
ANALOG_OFF;
MesswertNick = AdWertNick;
317,7 → 324,7
Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll;
Mittelwert_AccHoch = (long)AdWertAccHoch;
// ADC einschalten
ANALOG_ON;
ANALOG_ON;
if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--;
if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--;
if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--;
335,7 → 342,7
// Senden der Motorwerte per I2C-Bus
void SendMotorData(void)
//############################################################################
{
{
if(MOTOR_OFF || !MotorenEin)
{
Motor_Hinten = 0;
351,12 → 358,12
DebugOut.Analog[12] = Motor_Vorne;
DebugOut.Analog[13] = Motor_Hinten;
DebugOut.Analog[14] = Motor_Links;
DebugOut.Analog[15] = Motor_Rechts;
DebugOut.Analog[15] = Motor_Rechts;
 
//Start I2C Interrupt Mode
twi_state = 0;
motor = 0;
i2c_start();
i2c_start();
}
 
 
363,7 → 370,7
 
//############################################################################
// Trägt ggf. das Poti als Parameter ein
void ParameterZuordnung(void)
void ParameterZuordnung(void)
//############################################################################
{
 
375,15 → 382,15
CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255);
CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255);
CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255);
CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255);
CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255);
CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255);
CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255);
CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255);
CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255);
CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255);
CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255);
CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255);
CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255);
CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255);
CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255);
CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255);
CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255);
CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255);
CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255);
CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255);
CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255);
CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255);
CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255);
CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255);
415,35 → 422,35
static char TimerWerteausgabe = 0;
static char NeueKompassRichtungMerken = 0;
static long ausgleichNick, ausgleichRoll;
Mittelwert();
 
Mittelwert();
 
GRN_ON;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gaswert ermitteln
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120;
if(GasMischanteil > MAX_GAS - 20) GasMischanteil = MAX_GAS - 20;
if(GasMischanteil < 0) GasMischanteil = 0;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Emfang schlecht
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(SenderOkay < 100)
{
if(!PcZugriff)
if(!PcZugriff)
{
if(BeepMuster == 0xffff)
{
if(BeepMuster == 0xffff)
{
beeptime = 15000;
BeepMuster = 0x0c00;
}
}
}
if(RcLostTimer) RcLostTimer--;
else
if(RcLostTimer) RcLostTimer--;
else
{
MotorenEin = 0;
Notlandung = 0;
}
}
ROT_ON;
if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken
{
455,10 → 462,10
}
else MotorenEin = 0;
}
else
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
else
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Emfang gut
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(SenderOkay > 140)
{
Notlandung = 0;
471,14 → 478,14
{
SummeNick = 0;
SummeRoll = 0;
Mess_Integral_Gier = 0;
Mess_Integral_Gier = 0;
Mess_Integral_Gier2 = 0;
}
if((GasMischanteil > 200) && MotorenEin == 0)
{
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// auf Nullwerte kalibrieren
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte
{
if(++delay_neutral > 200) // nicht sofort
500,13 → 507,13
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert?
{
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset();
}
}
ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
SetNeutral();
Piep(GetActiveParamSetNumber());
}
}
}
else
else
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern
{
if(++delay_neutral > 200) // nicht sofort
524,21 → 531,21
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256);
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256);
Piep(GetActiveParamSetNumber());
}
}
}
else delay_neutral = 0;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gas ist unten
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(GasMischanteil < 35)
{
// Starten
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75)
{
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Einschalten
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(++delay_einschalten > 200)
{
delay_einschalten = 200;
545,7 → 552,7
modell_fliegt = 1;
MotorenEin = 1;
sollGier = 0;
Mess_Integral_Gier = 0;
Mess_Integral_Gier = 0;
Mess_Integral_Gier2 = 0;
Mess_IntegralNick = 0;
Mess_IntegralRoll = 0;
553,13 → 560,13
Mess_IntegralRoll2 = IntegralRoll;
SummeNick = 0;
SummeRoll = 0;
}
}
}
}
else delay_einschalten = 0;
//Auf Neutralwerte setzen
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Auschalten
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75)
{
if(++delay_ausschalten > 200) // nicht sofort
567,20 → 574,20
MotorenEin = 0;
delay_ausschalten = 200;
modell_fliegt = 0;
}
}
}
else delay_ausschalten = 0;
}
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// neue Werte von der Funke
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!NewPpmData-- || Notlandung)
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!NewPpmData-- || Notlandung)
{
int tmp_int;
ParameterZuordnung();
StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P;
StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P;
StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D;
StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P;
StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D;
588,6 → 595,19
GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0;
IntegralFaktor = ((float) Parameter_Gyro_I) / 44000;
 
//------HF------- LEDs Schalten - LED1 Normal, LED2 Blitzlicht
LED_Switch = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]];
if (((LED_Switch > 32) & (LED_Switch < 96)) | (LED_Switch > 160)) LED_2++; else if (LED_2 > 0) LED_2--;
if ((LED_Switch > 96)) LED_1++; else if (LED_1 > 0) LED_1--;
if (LED_1 >= 10) {LED_1 = 10; LED1_ON;}
if (LED_1 <= 1) LED1_OFF;
if (LED_2 >= 10) {LED_2 = 10; LED_2on = 1;}
if (LED_2 <= 1) LED_2on = 0;
if (LED_2on == 1) LED_flash++;
if (LED_flash > 77) LED2_ON; else LED2_OFF;
if (LED_flash > 80) LED_flash = 0;
//------HF------- End LEDs Schalten
 
#define KEY_VALUE (Parameter_UserParam1 * 4) //(Poti3 * 8)
if(DubWiseKeys[1]) beeptime = 10;
if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else
612,64 → 632,64
// greift in den Stick ein, um ungewolltes überschlagen zu verhindern
if(!(EE_Parameter.LoopConfig & CFG_LOOP_LINKS) && !(EE_Parameter.LoopConfig & CFG_LOOP_RECHTS))
{
if(IntegralNick > 60000)
{
StickNick -= 8 * EE_Parameter.Stick_P;
if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P;
}
if(IntegralNick > 60000)
{
StickNick -= 8 * EE_Parameter.Stick_P;
if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P;
}
else
if(IntegralNick < -60000)
if(IntegralNick < -60000)
{
StickNick += 8 * EE_Parameter.Stick_P;
if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P;
}
if(IntegralRoll > 60000)
{
StickRoll -= 8 * EE_Parameter.Stick_P;
if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P;
}
if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P;
}
if(IntegralRoll > 60000)
{
StickRoll -= 8 * EE_Parameter.Stick_P;
if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P;
}
else
if(IntegralRoll < -60000)
if(IntegralRoll < -60000)
{
StickRoll += 8 * EE_Parameter.Stick_P;
if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P;
}
if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P;
}
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Looping?
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) Looping_Links = 1;
else
{
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.LoopHysterese))) Looping_Links = 0;
}
}
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1;
else
else
{
if(Looping_Rechts) // Hysterese
{
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0;
}
}
}
 
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) Looping_Oben = 1;
else
{
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.LoopHysterese))) Looping_Oben = 0;
}
}
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN) Looping_Unten = 1;
else
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;
680,11 → 700,11
{
if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit;
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Bei Empfangsausfall im Flug
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Bei Empfangsausfall im Flug
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(Notlandung)
{
StickGier = 0;
694,12 → 714,12
IntegralFaktor = 0.005;
Looping_Roll = 0;
Looping_Nick = 0;
}
}
 
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Integrale auf ACC-Signal abgleichen
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#define ABGLEICH_ANZAHL 256L
 
MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren
722,13 → 742,13
LageKorrekturRoll = 0;
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!Looping_Nick && !Looping_Roll)
{
long tmp_long, tmp_long2;
tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick);
tmp_long /= 16;
tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll);
tmp_long2 /= 16;
#define AUSGLEICH 32 //(Parameter_UserParam1 / 2)
if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH;
738,7 → 758,7
Mess_IntegralNick -= tmp_long;
Mess_IntegralRoll -= tmp_long2;
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
if(ZaehlMessungen >= ABGLEICH_ANZAHL)
{
757,8 → 777,8
IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick);
ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich;
LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL;
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++
IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll);
ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich;
LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL;
 
765,15 → 785,15
// Mess_IntegralNick -= ausgleichNick;
// Mess_IntegralRoll -= ausgleichRoll;
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gyro-Drift ermitteln
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
MittelIntegralNick2 /= ABGLEICH_ANZAHL;
MittelIntegralRoll2 /= ABGLEICH_ANZAHL;
// tmp_long = (long)(MittelIntegralNick2 - (long)IntegralAccNick);
// tmp_long2 = (long)(MittelIntegralRoll2 - (long)IntegralAccRoll);
tmp_long = IntegralNick2 - IntegralNick;
tmp_long2 = IntegralRoll2 - IntegralRoll;
// tmp_long = (long)(MittelIntegralNick2 - (long)IntegralAccNick);
// tmp_long2 = (long)(MittelIntegralRoll2 - (long)IntegralAccRoll);
tmp_long = IntegralNick2 - IntegralNick;
tmp_long2 = IntegralRoll2 - IntegralRoll;
//DebugOut.Analog[25] = MittelIntegralRoll2 / 26;
 
IntegralFehlerNick = tmp_long;
802,26 → 822,26
cnt = 1;// + labs(IntegralFehlerNick) / 4096;
if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT)
{
if(IntegralFehlerNick > FEHLER_LIMIT2)
if(IntegralFehlerNick > FEHLER_LIMIT2)
{
if(last_n_p)
if(last_n_p)
{
cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2;
cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2;
ausgleichNick = IntegralFehlerNick / 8;
if(ausgleichNick > 5000) ausgleichNick = 5000;
LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
}
}
else last_n_p = 1;
} else last_n_p = 0;
if(IntegralFehlerNick < -FEHLER_LIMIT2)
if(IntegralFehlerNick < -FEHLER_LIMIT2)
{
if(last_n_n)
{
cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2;
{
cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2;
ausgleichNick = IntegralFehlerNick / 8;
if(ausgleichNick < -5000) ausgleichNick = -5000;
LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL;
}
}
else last_n_n = 1;
} else last_n_n = 0;
} else cnt = 0;
835,22 → 855,22
ausgleichRoll = 0;
if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT)
{
if(IntegralFehlerRoll > FEHLER_LIMIT2)
if(IntegralFehlerRoll > FEHLER_LIMIT2)
{
if(last_r_p)
if(last_r_p)
{
cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2;
cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2;
ausgleichRoll = IntegralFehlerRoll / 8;
if(ausgleichRoll > 5000) ausgleichRoll = 5000;
LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
}
}
else last_r_p = 1;
} else last_r_p = 0;
if(IntegralFehlerRoll < -FEHLER_LIMIT2)
if(IntegralFehlerRoll < -FEHLER_LIMIT2)
{
if(last_r_n)
if(last_r_n)
{
cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2;
cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2;
ausgleichRoll = IntegralFehlerRoll / 8;
if(ausgleichRoll < -5000) ausgleichRoll = -5000;
LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL;
857,10 → 877,10
}
else last_r_n = 1;
} else last_r_n = 0;
} else
} else
{
cnt = 0;
}
}
DebugOut.Analog[27] = ausgleichRoll;
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp;
//if(cnt > 1) beeptime = 50;
869,16 → 889,16
DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick);
DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll);
}
else
else
{
LageKorrekturRoll = 0;
LageKorrekturNick = 0;
}
if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
MittelIntegralNick_Alt = MittelIntegralNick;
MittelIntegralRoll_Alt = MittelIntegralRoll;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
MittelIntegralNick_Alt = MittelIntegralNick;
MittelIntegralRoll_Alt = MittelIntegralRoll;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++
IntegralAccNick = 0;
IntegralAccRoll = 0;
IntegralAccZ = 0;
890,32 → 910,32
}
//DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor);
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gieren
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(abs(StickGier) > 20) // war 35
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(abs(StickGier) > 20) // war 35
{
if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1;
}
tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx²
tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
tmp_int += (EE_Parameter.Gier_P * StickGier) / 4;
sollGier = tmp_int;
Mess_Integral_Gier -= 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 && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV))
{
int w,v;
static int SignalSchlecht = 0;
static int SignalSchlecht = 0;
w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln
v = abs(IntegralRoll /512);
if(v > w) w = v; // grösste Neigung ermitteln
if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht)
{
if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht)
{
KompassStartwert = KompassValue;
NeueKompassRichtungMerken = 0;
}
925,14 → 945,14
{
if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten
if(SignalSchlecht) SignalSchlecht--;
}
}
else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Debugwerte zuordnen
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(!TimerWerteausgabe--)
{
TimerWerteausgabe = 24;
964,17 → 984,17
// DebugOut.Analog[9] = SollHoehe;
// DebugOut.Analog[10] = Mess_Integral_Gier / 128;
// DebugOut.Analog[11] = KompassStartwert;
// DebugOut.Analog[10] = Parameter_Gyro_I;
// DebugOut.Analog[10] = EE_Parameter.Gyro_I;
// DebugOut.Analog[9] = KompassRichtung;
// DebugOut.Analog[10] = Parameter_Gyro_I;
// DebugOut.Analog[10] = EE_Parameter.Gyro_I;
// DebugOut.Analog[9] = KompassRichtung;
// DebugOut.Analog[10] = GasMischanteil;
// DebugOut.Analog[3] = HoeheD * 32;
// DebugOut.Analog[4] = hoehenregler;
}
 
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor;
else MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor;
if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor;
995,10 → 1015,10
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
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
//OCR0B = 180 - (Poti1 + 120) / 4;
//DruckOffsetSetting = OCR0B;
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung
1006,15 → 1026,15
int tmp_int;
if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert
{
if(Parameter_MaxHoehe < 50)
if(Parameter_MaxHoehe < 50)
{
SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters
HoehenReglerAktiv = 0;
}
else
else
HoehenReglerAktiv = 1;
}
else
else
{
SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung - 20;
HoehenReglerAktiv = 1;
1030,83 → 1050,83
if(tmp_int > 50) tmp_int = 50;
else if(tmp_int < -50) tmp_int = -50;
h -= tmp_int;
hoehenregler = (hoehenregler*15 + h) / 16;
hoehenregler = (hoehenregler*15 + h) / 16;
if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN
{
if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas;
if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil;
}
}
if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas
GasMischanteil = hoehenregler;
}
}
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Mischer und PI-Regler
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DebugOut.Analog[7] = GasMischanteil;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Gier-Anteil
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#define MUL_G 1.0
GierMischanteil = MesswertGier - sollGier; // Regler für Gier
//GierMischanteil = 0;
 
if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
if(GierMischanteil > ((MAX_GAS - GasMischanteil))) GierMischanteil = ((MAX_GAS - GasMischanteil));
if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2;
if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2);
if(GierMischanteil > ((MAX_GAS - GasMischanteil))) GierMischanteil = ((MAX_GAS - GasMischanteil));
if(GierMischanteil < -((MAX_GAS - GasMischanteil))) GierMischanteil = -((MAX_GAS - GasMischanteil));
 
if(GasMischanteil < 20) GierMischanteil = 0;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Nick-Achse
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DiffNick = MesswertNick - (StickNick - GPS_Nick); // Differenz bestimmen
if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - (StickNick - GPS_Nick); // I-Anteil bei Winkelregelung
else SummeNick += DiffNick; // I-Anteil bei HH
if(SummeNick > 0) SummeNick-= 2 ; else SummeNick += 2 ;
else SummeNick += DiffNick; // I-Anteil bei HH
if(SummeNick > 0) SummeNick-= 2 ; else SummeNick += 2 ;
if(SummeNick > 16000) SummeNick = 16000;
if(SummeNick < -16000) SummeNick = -16000;
pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick
pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick
// Motor Vorn
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int;
if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int;
if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int;
if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int;
 
motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer
if ((motorwert < 0)) motorwert = 0;
else if(motorwert > MAX_GAS) motorwert = MAX_GAS;
if (motorwert < MIN_GAS) motorwert = MIN_GAS;
Motor_Vorne = motorwert;
if (motorwert < MIN_GAS) motorwert = MIN_GAS;
Motor_Vorne = motorwert;
// Motor Heck
motorwert = GasMischanteil - pd_ergebnis + GierMischanteil;
if ((motorwert < 0)) motorwert = 0;
else if(motorwert > MAX_GAS) motorwert = MAX_GAS;
if (motorwert < MIN_GAS) motorwert = MIN_GAS;
Motor_Hinten = motorwert;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Motor_Hinten = motorwert;
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// Roll-Achse
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
DiffRoll = MesswertRoll - (StickRoll - GPS_Roll); // Differenz bestimmen
if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - (StickRoll - GPS_Roll);// I-Anteil bei Winkelregelung
else SummeRoll += DiffRoll; // I-Anteil bei HH
if(SummeRoll > 0) SummeRoll-= 2 ; else SummeRoll += 2 ;
if(SummeRoll > 0) SummeRoll-= 2 ; else SummeRoll += 2 ;
if(SummeRoll > 16000) SummeRoll = 16000;
if(SummeRoll < -16000) SummeRoll = -16000;
pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll
tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64;
if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int;
if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int;
if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int;
if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int;
// Motor Links
motorwert = GasMischanteil + pd_ergebnis - GierMischanteil;
if ((motorwert < 0)) motorwert = 0;
else if(motorwert > MAX_GAS) motorwert = MAX_GAS;
if (motorwert < MIN_GAS) motorwert = MIN_GAS;
Motor_Links = motorwert;
Motor_Links = motorwert;
// Motor Rechts
motorwert = GasMischanteil - pd_ergebnis - GierMischanteil;
if ((motorwert < 0)) motorwert = 0;
else if(motorwert > MAX_GAS) motorwert = MAX_GAS;
if (motorwert < MIN_GAS) motorwert = MIN_GAS;
if (motorwert < MIN_GAS) motorwert = MIN_GAS;
Motor_Rechts = motorwert;
// +++++++++++++++++++++++++++++++++++++++++++++++
}
/branches/V0.67g_LED/main.c
3,14 → 3,14
// + Nur für den privaten Gebrauch
// + www.MikroKopter.com
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist.
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
// + bzgl. der Nutzungsbedingungen aufzunehmen.
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
// + Verkauf von Luftbildaufnahmen, usw.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
21,21 → 21,21
// + Benutzung auf eigene Gefahr
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
// + mit unserer Zustimmung zulässig
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
// + this list of conditions and the following disclaimer.
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
// + from this software without specific prior written permission.
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
// + for non-commercial use (directly or indirectly)
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
// + with our written permission
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
// + clearly linked as origin
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
47,7 → 47,7
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// + POSSIBILITY OF SUCH DAMAGE.
// + POSSIBILITY OF SUCH DAMAGE.
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
#include "main.h"
 
55,7 → 55,7
unsigned char PlatinenVersion = 10;
 
// -- Parametersatz aus EEPROM lesen ---
// number [0..5]
// number [0..5]
void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
{
if (number > 5) number = 5;
64,10 → 64,10
 
 
// -- Parametersatz ins EEPROM schreiben ---
// number [0..5]
// number [0..5]
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length)
{
if(number > 5) number = 5;
if(number > 5) number = 5;
eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length);
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken
}
76,11 → 76,11
{
unsigned char set;
set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]);
if(set > 5)
{
set = 2;
if(set > 5)
{
set = 2;
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set); // diesen Parametersatz als aktuell merken
}
}
return(set);
}
 
92,8 → 92,8
unsigned int timer;
 
//unsigned int timer2 = 0;
DDRB = 0x00;
PORTB = 0x00;
DDRB = 0x00;
PORTB = 0x00;
for(timer = 0; timer < 1000; timer++); // verzögern
if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10;
DDRC = 0x81; // SCL
102,10 → 102,10
PORTB = 0x01; // LED_Rot
DDRD = 0x3E; // Speaker & TXD & J3 J4 J5
DDRD |=0x80; // J7
 
PORTD = 0xF7; // LED
 
 
MCUSR &=~(1<<WDRF);
WDTCSR |= (1<<WDCE)|(1<<WDE);
WDTCSR = 0;
115,7 → 115,11
StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0;
 
ROT_OFF;
//--------HF------
LED1_OFF;
LED2_OFF;
//--------HF------
 
Timer_Init();
UART_Init();
rc_sum_init();
122,83 → 126,83
ADC_Init();
i2c_init();
// SPI_MasterInit();
 
sei();
 
VersionInfo.Hauptversion = VERSION_HAUPTVERSION;
VersionInfo.Nebenversion = VERSION_NEBENVERSION;
VersionInfo.PCKompatibel = VERSION_KOMPATIBEL;
 
printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a');
printf("\n\r==============================");
GRN_ON;
 
#define EE_DATENREVISION 68 // wird angepasst, wenn sich die EEPROM-Daten geändert haben
if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
{
if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION)
{
printf("\n\rInit. EEPROM: Generiere Default-Parameter...");
DefaultKonstanten1();
for (unsigned char i=0;i<6;i++)
for (unsigned char i=0;i<6;i++)
{
if(i==2) DefaultKonstanten2(); // Kamera
if(i==3) DefaultKonstanten3(); // Beginner
if(i>3) DefaultKonstanten2(); // Kamera
WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
}
}
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting
eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION);
}
 
if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4)
{
printf("\n\rACC nicht abgeglichen!");
}
 
ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE);
printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber());
 
 
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)
{
{
printf("\n\rAbgleich Luftdrucksensor..");
timer = SetDelay(1000);
timer = SetDelay(1000);
SucheLuftruckOffset();
while (!CheckDelay(timer));
printf("OK\n\r");
}
 
SetNeutral();
 
ROT_OFF;
 
beeptime = 2000;
DebugIn.Analog[1] = 1000;
DebugIn.Digital[0] = 0x55;
DebugIn.Digital[0] = 0x55;
 
 
printf("\n\rSteuerung: ");
if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold");
else printf("Neutral");
 
printf("\n\n\r");
 
LcdClear();
I2CTimeout = 5000;
while (1)
{
if (UpdateMotor) // ReglerIntervall
{
{
// SPI_TransmitByte();
UpdateMotor=0;
UpdateMotor=0;
//PORTD |= 0x08;
MotorRegler();
MotorRegler();
//PORTD &= ~0x08;
SendMotorData();
ROT_OFF;
if(PcZugriff) PcZugriff--;
else
if(PcZugriff) PcZugriff--;
else
{
DubWiseKeys[0] = 0;
DubWiseKeys[0] = 0;
DubWiseKeys[1] = 0;
ExternStickNick = 0;
ExternStickRoll = 0;
209,16 → 213,16
{
I2CTimeout = 5;
i2c_reset();
if((BeepMuster == 0xffff) && MotorenEin)
{
if((BeepMuster == 0xffff) && MotorenEin)
{
beeptime = 10000;
BeepMuster = 0x0080;
}
}
}
else
else
{
I2CTimeout--;
ROT_OFF;
ROT_OFF;
}
}
if(SIO_DEBUG)
228,18 → 232,18
}
else BearbeiteRxDaten();
if(CheckDelay(timer))
{
{
if(UBat < EE_Parameter.UnterspannungsWarnung)
{
if(BeepMuster == 0xffff)
{
{
if(BeepMuster == 0xffff)
{
beeptime = 6000;
BeepMuster = 0x0300;
}
}
}
// SPI_StartTransmitPacket();
timer = SetDelay(100);
}
timer = SetDelay(100);
}
}
return (1);
}
/branches/V0.67g_LED/main.h
18,6 → 18,12
#define GRN_OFF PORTB &=~0x02
#define GRN_ON PORTB |= 0x02
#define GRN_FLASH PORTB ^= 0x02
//-------------H.F.------------
#define LED1_ON PORTC |= 0x04
#define LED1_OFF PORTC &=~0x04
#define LED2_ON PORTC |= 0x08
#define LED2_OFF PORTC &=~0x08
//-------------H.F.------------
 
#define F_CPU SYSCLK
//#ifndef F_CPU