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Rev 1278 Rev 1279
Line 1269... Line 1269...
1269 
 
 1269 
 
1270 
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung
 1270 
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG))  // Höhenregelung
1271 
  {
 1271 
  {
1272 
    int tmp_int;
 1272 
    int tmp_int;
- 
 
 1273 
        long tmp_long_h;
1273 
        long tmp_long_h;
 1274 
    static int hoover = 400, maxhoover,minhoover;
1274 
        static char delay = 100;
 1275 
        static char delay = 100;
1275 
        unsigned char angle_gas = 0;
 1276 
        unsigned char angle_gas = 0;
1276 
    if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)  // Regler wird über Schalter gesteuert
 1277 
    if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)  // Regler wird über Schalter gesteuert
1277 
    {
 1278 
    {
Line 1317... Line 1318...
1317 
    if(MikroKopterFlags & FLAG_NOTLANDUNG) SollHoehe = 0;
 1318 
    if(MikroKopterFlags & FLAG_NOTLANDUNG) SollHoehe = 0;
1318 
    h = HoehenWert;
 1319 
    h = HoehenWert;
1319 
    if((h > SollHoehe) && HoehenReglerAktiv)      // zu hoch --> drosseln
 1320 
    if((h > SollHoehe) && HoehenReglerAktiv)      // zu hoch --> drosseln
1320 
     {
 1321 
     {
1321 
      int vario;
 1322 
      int vario;
- 
 
 1323 
          static char delay = 1;
- 
 
 1324 
// + P-Part ++++++++++++++++++++++++++
- 
 
 1325 
      h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil
- 
 
 1326 
      h = GasMischanteil - h;         // vom Gas abziehen
- 
 
 1327 
      if(!delay--)
- 
 
 1328 
           {
- 
 
 1329 
        delay = 2;
- 
 
 1330 
        hoover = (15*hoover + h) / 16;
- 
 
 1331 
                if(hoover < h) hoover++; else hoover--;
- 
 
 1332 
        maxhoover = hoover + hoover/6; // max. 16%
- 
 
 1333 
        minhoover = hoover - hoover/6; // max. 16%
- 
 
 1334 
           }
- 
 
 1335 
      if(maxhoover < 200) maxhoover = 200;
- 
 
 1336 
DebugOut.Analog[25] = hoover;
- 
 
 1337 
DebugOut.Analog[26] = maxhoover;
- 
 
 1338 
DebugOut.Analog[28] = minhoover;
- 
 
 1339 
 
- 
 
 1340 
// + D1-Part - Vario ++++++++++++++++++++++++++
1322 
          vario = VarioMeter / 8;
 1341 
          vario = VarioMeter / 8;
1323 
          if(vario > 8) vario = 8;
 1342 
          if(vario > 8) vario = 8;
1324 
          if(vario > 0) vario = VarioMeter + (vario * vario) / 4;
 1343 
          if(vario > 0) vario = VarioMeter + (vario * vario) / 4;
1325 
          else vario = VarioMeter - (vario * vario) / 4;
 1344 
          else vario = VarioMeter - (vario * vario) / 4;
1326 
      h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil
 1345 
      vario = (Parameter_Luftdruck_D * (long)vario)/128L;    // D-Anteil
- 
 
 1346 
DebugOut.Analog[24] = -vario;
- 
 
 1347 
          if(vario > 63) vario = 63;
- 
 
 1348 
          else if(vario < -63) vario = -63;
- 
 
 1349 
      h -= vario;
- 
 
 1350 
         
1327 
      h = GasMischanteil - h;         // vom Gas abziehen
 1351 
// + D2-Part - ACC ++++++++++++++++++++++++++
1328 
      h -= (Parameter_Luftdruck_D * (long)vario)/128L;    // D-Anteil
 1352 
//    tmp_int = (((Mess_Integral_Hoch / 128)/*+AdWertAccHoch*/) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (32);
1329 
      tmp_int = ((Mess_Integral_Hoch / 128) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN);
 1353 
      tmp_int = ((Mess_Integral_Hoch / 128) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN);
- 
 
 1354 
DebugOut.Analog[23] = -tmp_int;
1330 
      if(tmp_int > 70*STICK_GAIN) tmp_int = 70*STICK_GAIN;
 1355 
      if(tmp_int > 127) tmp_int = 127;
1331 
      else if(tmp_int < -(70*STICK_GAIN)) tmp_int = -(70*STICK_GAIN);
 1356 
      else if(tmp_int < -63) tmp_int = -63;
1332 
      h -= tmp_int;
 1357 
      h -= tmp_int;
Line -... Line 1358...
- 
 
 1358 
 
- 
 
 1359 
      if(h > maxhoover) h = maxhoover;
- 
 
 1360 
          else
- 
 
 1361 
      if(h < minhoover) h = minhoover;
1333 
 
 1362 
// + 1/cos(angle)  ++++++++++++++++++++++++++
1334 
      const unsigned char GAS_TAB[31] = {128,128,128,129,129,130,131,132,133,135,136,138,140,142,145,148,151,154,158,162,167,172,178,184,191,199,208,218,229,241,255};
 1363 
      const unsigned char GAS_TAB[31] = {128,128,128,129,129,130,131,132,133,135,136,138,140,142,145,148,151,154,158,162,167,172,178,184,191,199,208,218,229,241,255};
1335 
      tmp_long_h = labs(IntegralNick) + labs(IntegralRoll);
 1364 
      tmp_long_h = labs(IntegralNick) + labs(IntegralRoll);
1336 
      tmp_long_h /= 1500;//1024 * 2;
 1365 
      tmp_long_h /= 1500;//1024 * 2;
1337 
      if(tmp_long_h > 29) tmp_long_h = 29;
 1366 
      if(tmp_long_h > 29) tmp_long_h = 29;
- 
 
 1367 
      h = ((long) h * GAS_TAB[tmp_long_h]) / 128L;
1338 
      h = ((long) h * GAS_TAB[tmp_long_h]) / 128L;
 1368 
 
1339 
//DebugOut.Analog[21] = (int) tmp_long_h;
 - 
 
1340 
//DebugOut.Analog[22] = (int) GAS_TAB[tmp_long_h];
 - 
 
1341 
//DebugOut.Analog[23] = vario;
 1369 
// + Begrenzung  ++++++++++++++++++++++++++
1342 
      hoehenregler = (hoehenregler*7 + h) / 8;
 1370 
      hoehenregler = (hoehenregler*3 + h) / 4;
1343 
      if(hoehenregler < EE_Parameter.Hoehe_MinGas * STICK_GAIN) // nicht unter MIN
 1371 
      if(hoehenregler < EE_Parameter.Hoehe_MinGas * STICK_GAIN) // nicht unter MIN
1344 
       {
 1372 
       {
1345 
         if(GasMischanteil >= EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = EE_Parameter.Hoehe_MinGas * STICK_GAIN;
 1373 
         if(GasMischanteil >= EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = EE_Parameter.Hoehe_MinGas * STICK_GAIN;
1346 
         if(GasMischanteil < EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = GasMischanteil;
 1374 
         if(GasMischanteil < EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = GasMischanteil;