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| 90 | <span style="color: #339933;">#include "main.h"</span><br /> |
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| 91 | <span style="color: #339933;">#include "flightcontrol.h"</span><br /> |
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| 92 | <br /> |
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| 93 | <span style="color: #993333;">int</span> reference_altitude<span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Regelgröße</span><br /> |
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| 94 | <span style="color: #993333;">int</span> reference_accz<span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Regelgröße D-Anteil</span><br /> |
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| 95 | <span style="color: #993333;">int</span> reference_flow_x<span style="color: #339933;">;</span><br /> |
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| 96 | <span style="color: #993333;">int</span> reference_flow_y<span style="color: #339933;">;</span><br /> |
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| 97 | <br /> |
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| 98 | <span style="color: #993333;">int</span> altitude_differenz<span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Regelabweichung</span><br /> |
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| 99 | <span style="color: #993333;">int</span> altitude_differenz_sum <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//I-Glied</span><br /> |
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| 100 | <span style="color: #993333;">int</span> xDirection_differenz_sum <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span><br /> |
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| 101 | <span style="color: #993333;">int</span> yDirection_differenz_sum <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span><br /> |
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| 102 | <br /> |
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| 103 | <span style="color: #993333;">int</span> altitude_old<span style="color: #339933;">;</span><br /> |
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| 104 | <span style="color: #993333;">int</span> altitude_velocity<span style="color: #339933;">;</span><br /> |
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| 105 | <span style="color: #993333;">int</span> xDirection_old<span style="color: #339933;">;</span><br /> |
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| 106 | <span style="color: #993333;">int</span> xDirection_velocity<span style="color: #339933;">;</span><br /> |
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| 107 | <span style="color: #993333;">int</span> yDirection_old<span style="color: #339933;">;</span><br /> |
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| 108 | <span style="color: #993333;">int</span> yDirection_velocity<span style="color: #339933;">;</span><br /> |
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| 109 | <br /> |
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| 110 | <span style="color: #993333;">float</span> gas_correction_dpart<span style="color: #339933;">;</span><br /> |
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| 111 | <span style="color: #993333;">float</span> gas_correction_ipart <span style="color: #339933;">=</span> <span style="color:#800080;">0.0</span><span style="color: #339933;">;</span><br /> |
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| 112 | <span style="color: #993333;">float</span> gas_correction_ppart<span style="color: #339933;">;</span><br /> |
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| 113 | <span style="color: #993333;">float</span> gas_correction_final<span style="color: #339933;">;</span><br /> |
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| 114 | <span style="color: #993333;">float</span> nick_correction_dpart<span style="color: #339933;">;</span><br /> |
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| 115 | <span style="color: #993333;">float</span> nick_correction_ipart <span style="color: #339933;">=</span> <span style="color:#800080;">0.0</span><span style="color: #339933;">;</span><br /> |
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| 116 | <span style="color: #993333;">float</span> nick_correction_ppart<span style="color: #339933;">;</span><br /> |
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| 117 | <span style="color: #993333;">float</span> nick_correction_final<span style="color: #339933;">;</span><br /> |
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| 118 | <span style="color: #993333;">float</span> roll_correction_dpart<span style="color: #339933;">;</span><br /> |
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| 119 | <span style="color: #993333;">float</span> roll_correction_ipart <span style="color: #339933;">=</span> <span style="color:#800080;">0.0</span><span style="color: #339933;">;</span><br /> |
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| 120 | <span style="color: #993333;">float</span> roll_correction_ppart<span style="color: #339933;">;</span><br /> |
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| 121 | <span style="color: #993333;">float</span> roll_correction_final<span style="color: #339933;">;</span><br /> |
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| 122 | <br /> |
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| 123 | <span style="color: #993333;">float</span> pFactorGas <span style="color: #339933;">=</span> <span style="color:#800080;">0.3</span><span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor P</span><br /> |
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| 124 | <span style="color: #993333;">float</span> iFactorGas <span style="color: #339933;">=</span> <span style="color:#800080;">0.02</span><span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor I</span><br /> |
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| 125 | <span style="color: #993333;">float</span> dFactorGas <span style="color: #339933;">=</span> <span style="color:#800080;">0.3</span><span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor D</span><br /> |
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| 126 | <span style="color: #993333;">float</span> pFactorNick <span style="color: #339933;">=</span> <span style="color:#800080;">0.2</span><span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor P</span><br /> |
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| 127 | <span style="color: #993333;">float</span> iFactorNick <span style="color: #339933;">=</span> <span style="color:#800080;">0.02</span><span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor I</span><br /> |
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| 128 | <span style="color: #993333;">float</span> dFactorNick <span style="color: #339933;">=</span> <span style="color:#800080;">0.3</span><span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor D</span><br /> |
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| 129 | <span style="color: #993333;">float</span> pFactorRoll <span style="color: #339933;">=</span> <span style="color:#800080;">0.2</span><span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor P</span><br /> |
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| 130 | <span style="color: #993333;">float</span> iFactorRoll <span style="color: #339933;">=</span> <span style="color:#800080;">0.02</span><span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor I</span><br /> |
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| 131 | <span style="color: #993333;">float</span> dFactorRoll <span style="color: #339933;">=</span> <span style="color:#800080;">0.3</span><span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Verstärkungsfaktor D</span><br /> |
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| 132 | <br /> |
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| 133 | <span style="color: #666666; font-style: italic;">//>> Performing Flight Correction</span><br /> |
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| 134 | <span style="color: #666666; font-style: italic;">//------------------------------------------------------------------------------------------------------</span><br /> |
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| 135 | <span style="color: #993333;">void</span> perform_flight_correction<span style="color: #009900;">(</span><span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
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| 136 | reference_altitude <span style="color: #339933;">=</span> <span style="color: #009900;">(</span><span style="color: #993333;">int</span><span style="color: #009900;">)</span><span style="color: #009900;">(</span>optical_flow_values.<span style="color: #202020;">ground_distance</span><span style="color: #339933;">*</span>1000<span style="color: #009900;">)</span><span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Regelgröße in mm</span><br /> |
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| 137 | reference_flow_x <span style="color: #339933;">+=</span> <span style="color: #009900;">(</span><span style="color: #993333;">int</span><span style="color: #009900;">)</span><span style="color: #009900;">(</span>optical_flow_values.<span style="color: #202020;">flow_comp_m_x</span><span style="color: #339933;">*</span>1000<span style="color: #009900;">)</span><span style="color: #339933;">;</span><br /> |
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| 138 | reference_flow_y <span style="color: #339933;">+=</span> <span style="color: #009900;">(</span><span style="color: #993333;">int</span><span style="color: #009900;">)</span><span style="color: #009900;">(</span>optical_flow_values.<span style="color: #202020;">flow_comp_m_y</span><span style="color: #339933;">*</span>1000<span style="color: #009900;">)</span><span style="color: #339933;">;</span><br /> |
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| 139 | altitude_differenz <span style="color: #339933;">=</span> STARTING_ALTITUDE <span style="color: #339933;">-</span> reference_altitude<span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Regelabweichung in mm</span><br /> |
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| 140 | <br /> |
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| 141 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>reference_altitude <span style="color: #339933;">!=</span> altitude_old<span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
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| 142 | altitude_velocity <span style="color: #339933;">=</span> <span style="color: #009900;">(</span>reference_altitude <span style="color: #339933;">-</span> altitude_old<span style="color: #009900;">)</span> <span style="color: #339933;">/</span> <span style="color:#800080;">0.1</span><span style="color: #339933;">;</span><br /> |
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| 143 | <span style="color: #009900;">}</span><br /> |
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| 144 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>reference_flow_x <span style="color: #339933;">!=</span> xDirection_old<span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
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| 145 | xDirection_velocity <span style="color: #339933;">=</span> <span style="color: #009900;">(</span>reference_flow_x <span style="color: #339933;">-</span> xDirection_old<span style="color: #009900;">)</span> <span style="color: #339933;">/</span> <span style="color:#800080;">0.1</span><span style="color: #339933;">;</span><br /> |
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| 146 | <span style="color: #009900;">}</span><br /> |
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| 147 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>reference_flow_y <span style="color: #339933;">!=</span> yDirection_old<span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
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| 148 | yDirection_velocity <span style="color: #339933;">=</span> <span style="color: #009900;">(</span>reference_flow_y <span style="color: #339933;">-</span> yDirection_old<span style="color: #009900;">)</span> <span style="color: #339933;">/</span> <span style="color:#800080;">0.1</span><span style="color: #339933;">;</span><br /> |
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| 149 | <span style="color: #009900;">}</span><br /> |
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| 150 | <br /> |
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| 151 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>altitude_differenz_sum <span style="color: #339933;"><</span> 10000 <span style="color: #339933;">&&</span> altitude_differenz_sum <span style="color: #339933;">></span> <span style="color: #339933;">-</span>10000<span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
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| 152 | altitude_differenz_sum <span style="color: #339933;">+=</span> altitude_differenz <span style="color: #339933;">*</span> <span style="color:#800080;">0.1</span><span style="color: #339933;">;</span><br /> |
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| 153 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>altitude_differenz_sum <span style="color: #339933;">></span> 9999<span style="color: #009900;">)</span><span style="color: #009900;">{</span>altitude_differenz_sum <span style="color: #339933;">=</span> <span style="color: #0000dd;">9999</span><span style="color: #339933;">;</span><span style="color: #009900;">}</span><span style="color: #b1b100;">else</span> <br /> |
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| 154 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>altitude_differenz_sum <span style="color: #339933;"><</span> <span style="color: #339933;">-</span>9999<span style="color: #009900;">)</span><span style="color: #009900;">{</span>altitude_differenz_sum <span style="color: #339933;">=</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">9999</span><span style="color: #339933;">;</span><span style="color: #009900;">}</span><br /> |
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| 155 | <span style="color: #009900;">}</span><br /> |
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| 156 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>xDirection_differenz_sum <span style="color: #339933;"><</span> 1000 <span style="color: #339933;">&&</span> xDirection_differenz_sum <span style="color: #339933;">></span> <span style="color: #339933;">-</span>1000<span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
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| 157 | xDirection_differenz_sum <span style="color: #339933;">+=</span> reference_flow_x<span style="color: #339933;">;</span><br /> |
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| 158 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>xDirection_differenz_sum <span style="color: #339933;">></span> 9999<span style="color: #009900;">)</span><span style="color: #009900;">{</span>xDirection_differenz_sum <span style="color: #339933;">=</span> <span style="color: #0000dd;">9999</span><span style="color: #339933;">;</span><span style="color: #009900;">}</span><span style="color: #b1b100;">else</span> <br /> |
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| 159 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>xDirection_differenz_sum <span style="color: #339933;"><</span> <span style="color: #339933;">-</span>9999<span style="color: #009900;">)</span><span style="color: #009900;">{</span>xDirection_differenz_sum <span style="color: #339933;">=</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">9999</span><span style="color: #339933;">;</span><span style="color: #009900;">}</span><br /> |
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| 160 | <span style="color: #009900;">}</span><br /> |
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| 161 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>yDirection_differenz_sum <span style="color: #339933;"><</span> 1000 <span style="color: #339933;">&&</span> yDirection_differenz_sum <span style="color: #339933;">></span> <span style="color: #339933;">-</span>1000<span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
||
| 162 | yDirection_differenz_sum <span style="color: #339933;">+=</span> reference_flow_y<span style="color: #339933;">;</span><br /> |
||
| 163 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>yDirection_differenz_sum <span style="color: #339933;">></span> 9999<span style="color: #009900;">)</span><span style="color: #009900;">{</span>yDirection_differenz_sum <span style="color: #339933;">=</span> <span style="color: #0000dd;">9999</span><span style="color: #339933;">;</span><span style="color: #009900;">}</span><span style="color: #b1b100;">else</span> <br /> |
||
| 164 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>yDirection_differenz_sum <span style="color: #339933;"><</span> <span style="color: #339933;">-</span>9999<span style="color: #009900;">)</span><span style="color: #009900;">{</span>yDirection_differenz_sum <span style="color: #339933;">=</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">9999</span><span style="color: #339933;">;</span><span style="color: #009900;">}</span><br /> |
||
| 165 | <span style="color: #009900;">}</span><br /> |
||
| 166 | <br /> |
||
| 167 | <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br /> |
||
| 168 | <span style="color: #666666; font-style: italic;">// PID Regelung Gas</span><br /> |
||
| 169 | gas_correction_ipart <span style="color: #339933;">=</span> iFactorGas <span style="color: #339933;">*</span> altitude_differenz_sum<span style="color: #339933;">;</span><br /> |
||
| 170 | gas_correction_dpart <span style="color: #339933;">=</span> dFactorGas <span style="color: #339933;">*</span> altitude_velocity <span style="color: #339933;">*-</span><span style="color: #0000dd;">1</span><span style="color: #339933;">;</span><br /> |
||
| 171 | gas_correction_ppart <span style="color: #339933;">=</span> pFactorGas <span style="color: #339933;">*</span> altitude_differenz<span style="color: #339933;">;</span><br /> |
||
| 172 | <br /> |
||
| 173 | gas_correction_final <span style="color: #339933;">=</span> <span style="color: #009900;">(</span>gas_correction_ppart <span style="color: #339933;">+</span> gas_correction_dpart <span style="color: #339933;">+</span> gas_correction_ipart<span style="color: #009900;">)</span> <span style="color: #339933;">/</span> <span style="color: #0000dd;">10</span><span style="color: #339933;">;</span><br /> |
||
| 174 | <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br /> |
||
| 175 | <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br /> |
||
| 176 | <span style="color: #666666; font-style: italic;">// PID Regelung Nick</span><br /> |
||
| 177 | nick_correction_ipart <span style="color: #339933;">=</span> iFactorNick <span style="color: #339933;">*</span> yDirection_differenz_sum<span style="color: #339933;">;</span><br /> |
||
| 178 | nick_correction_dpart <span style="color: #339933;">=</span> dFactorNick <span style="color: #339933;">*</span> yDirection_velocity<span style="color: #339933;">;</span><br /> |
||
| 179 | nick_correction_ppart <span style="color: #339933;">=</span> pFactorNick <span style="color: #339933;">*</span> reference_flow_y<span style="color: #339933;">;</span><br /> |
||
| 180 | <br /> |
||
| 181 | nick_correction_final <span style="color: #339933;">=</span> <span style="color: #009900;">(</span>nick_correction_ppart <span style="color: #339933;">+</span> nick_correction_dpart <span style="color: #339933;">+</span> nick_correction_ipart<span style="color: #009900;">)</span> <span style="color: #339933;">/</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">10</span><span style="color: #339933;">;</span><br /> |
||
| 182 | <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br /> |
||
| 183 | <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br /> |
||
| 184 | <span style="color: #666666; font-style: italic;">// PID Regelung Roll</span><br /> |
||
| 185 | roll_correction_ipart <span style="color: #339933;">=</span> iFactorRoll <span style="color: #339933;">*</span> xDirection_differenz_sum<span style="color: #339933;">;</span><br /> |
||
| 186 | roll_correction_dpart <span style="color: #339933;">=</span> dFactorRoll <span style="color: #339933;">*</span> xDirection_velocity<span style="color: #339933;">;</span><br /> |
||
| 187 | roll_correction_ppart <span style="color: #339933;">=</span> pFactorRoll <span style="color: #339933;">*</span> reference_flow_x<span style="color: #339933;">;</span><br /> |
||
| 188 | <br /> |
||
| 189 | roll_correction_final <span style="color: #339933;">=</span> <span style="color: #009900;">(</span>roll_correction_ppart <span style="color: #339933;">+</span> roll_correction_dpart <span style="color: #339933;">+</span> roll_correction_ipart<span style="color: #009900;">)</span> <span style="color: #339933;">/</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">10</span><span style="color: #339933;">;</span><br /> |
||
| 190 | <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br /> |
||
| 191 | <span style="color: #666666; font-style: italic;">//printf("Final: %f PPART: %f DPART: %f\n", nick_correction_final, nick_correction_ppart, nick_correction_dpart);</span><br /> |
||
| 192 | <br /> |
||
| 193 | <span style="color: #666666; font-style: italic;">//////////////////////////////////////////////////////////////////////////</span><br /> |
||
| 194 | <span style="color: #666666; font-style: italic;">// Set Limits</span><br /> |
||
| 195 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>gas_correction_final <span style="color: #339933;">>=</span> 20<span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
||
| 196 | fc_correction_data.<span style="color: #202020;">Gas</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">20</span><span style="color: #339933;">;</span><br /> |
||
| 197 | <span style="color: #009900;">}</span><span style="color: #b1b100;">else</span> <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>gas_correction_final <span style="color: #339933;"><=</span> <span style="color: #339933;">-</span>20<span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
||
| 198 | fc_correction_data.<span style="color: #202020;">Gas</span> <span style="color: #339933;">=</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">20</span><span style="color: #339933;">;</span><br /> |
||
| 199 | <span style="color: #009900;">}</span><span style="color: #b1b100;">else</span><span style="color: #009900;">{</span><br /> |
||
| 200 | fc_correction_data.<span style="color: #202020;">Gas</span> <span style="color: #339933;">=</span> gas_correction_final<span style="color: #339933;">;</span><br /> |
||
| 201 | <span style="color: #009900;">}</span><br /> |
||
| 202 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>nick_correction_final <span style="color: #339933;">>=</span> 20<span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
||
| 203 | fc_correction_data.<span style="color: #202020;">Nick</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">20</span><span style="color: #339933;">;</span><br /> |
||
| 204 | <span style="color: #009900;">}</span><span style="color: #b1b100;">else</span> <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>nick_correction_final <span style="color: #339933;"><=</span> <span style="color: #339933;">-</span>20<span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
||
| 205 | fc_correction_data.<span style="color: #202020;">Nick</span> <span style="color: #339933;">=</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">20</span><span style="color: #339933;">;</span><br /> |
||
| 206 | <span style="color: #009900;">}</span><span style="color: #b1b100;">else</span><span style="color: #009900;">{</span><br /> |
||
| 207 | fc_correction_data.<span style="color: #202020;">Nick</span> <span style="color: #339933;">=</span> nick_correction_final<span style="color: #339933;">;</span><br /> |
||
| 208 | <span style="color: #009900;">}</span><br /> |
||
| 209 | <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>roll_correction_final <span style="color: #339933;">>=</span> 20<span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
||
| 210 | fc_correction_data.<span style="color: #202020;">Roll</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">20</span><span style="color: #339933;">;</span><br /> |
||
| 211 | <span style="color: #009900;">}</span><span style="color: #b1b100;">else</span> <span style="color: #b1b100;">if</span><span style="color: #009900;">(</span>roll_correction_final <span style="color: #339933;"><=</span> <span style="color: #339933;">-</span>20<span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
||
| 212 | fc_correction_data.<span style="color: #202020;">Roll</span> <span style="color: #339933;">=</span> <span style="color: #339933;">-</span><span style="color: #0000dd;">20</span><span style="color: #339933;">;</span><br /> |
||
| 213 | <span style="color: #009900;">}</span><span style="color: #b1b100;">else</span><span style="color: #009900;">{</span><br /> |
||
| 214 | fc_correction_data.<span style="color: #202020;">Roll</span> <span style="color: #339933;">=</span> roll_correction_final<span style="color: #339933;">;</span><br /> |
||
| 215 | <span style="color: #009900;">}</span><br /> |
||
| 216 | <br /> |
||
| 217 | <span style="color: #666666; font-style: italic;">//printf("%d\n", reference_altitude/10);</span><br /> |
||
| 218 | <a href="http://www.opengroup.org/onlinepubs/009695399/functions/printf.html"><span style="color: #000066;">printf</span></a><span style="color: #009900;">(</span><span style="color: #ff0000;">"Final: %f PPART: %f DPART: %f IPART: %f Gas Correction: %d<span style="color: #000099; font-weight: bold;">\n</span>"</span><span style="color: #339933;">,</span> gas_correction_final<span style="color: #339933;">,</span> gas_correction_ppart<span style="color: #339933;">,</span> gas_correction_dpart<span style="color: #339933;">,</span> gas_correction_ipart<span style="color: #339933;">,</span> fc_correction_data.<span style="color: #202020;">Gas</span> <span style="color: #009900;">)</span><span style="color: #339933;">;</span><br /> |
||
| 219 | <span style="color: #666666; font-style: italic;">//printf("Final: %f PPART: %f DPART: %f IPART: %f Gas Correction: %d\n", nick_correction_final, nick_correction_ppart, nick_correction_dpart, nick_correction_ipart, fc_correction_data.Nick );</span><br /> |
||
| 220 | fc_correction_data.<span style="color: #202020;">Gas</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span><br /> |
||
| 221 | <span style="color: #666666; font-style: italic;">//fc_correction_data.Roll = 0;</span><br /> |
||
| 222 | <span style="color: #666666; font-style: italic;">//fc_correction_data.Nick = 0;</span><br /> |
||
| 223 | <br /> |
||
| 224 | <br /> |
||
| 225 | altitude_old <span style="color: #339933;">=</span> reference_altitude<span style="color: #339933;">;</span><br /> |
||
| 226 | xDirection_old <span style="color: #339933;">=</span> reference_flow_x<span style="color: #339933;">;</span><br /> |
||
| 227 | yDirection_old <span style="color: #339933;">=</span> reference_flow_y<span style="color: #339933;">;</span><br /> |
||
| 228 | <span style="color: #009900;">}</span><br /> |
||
| 229 | <br /> |
||
| 230 | <span style="color: #666666; font-style: italic;">//>> Transmitting Correction Data</span><br /> |
||
| 231 | <span style="color: #666666; font-style: italic;">//------------------------------------------------------------------------------------------------------</span><br /> |
||
| 232 | u8 <span style="color: #339933;">*</span>flight_values_stream<span style="color: #339933;">;</span><br /> |
||
| 233 | serial_data_struct data_package_flightcontrol<span style="color: #339933;">;</span><br /> |
||
| 234 | <span style="color: #993333;">void</span> transmit_flight_data<span style="color: #009900;">(</span><span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
||
| 235 | flight_values_stream <span style="color: #339933;">=</span> <span style="color: #009900;">(</span><span style="color: #993333;">unsigned</span> <span style="color: #993333;">char</span> <span style="color: #339933;">*</span><span style="color: #009900;">)</span> <span style="color: #339933;">&</span>fc_correction_data<span style="color: #339933;">;</span><br /> |
||
| 236 | <span style="color: #666666; font-style: italic;">//printf("Correction: %d\n", fc_correction_data.Gas);</span><br /> |
||
| 237 | <span style="color: #b1b100;">for</span> <span style="color: #009900;">(</span><span style="color: #993333;">int</span> i <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span> i <span style="color: #339933;"><</span> <span style="color: #993333;">sizeof</span><span style="color: #009900;">(</span><span style="color: #993333;">struct</span> str_fc_correction_data<span style="color: #009900;">)</span><span style="color: #339933;">;</span> <span style="color: #339933;">++</span>i<span style="color: #009900;">)</span><br /> |
||
| 238 | <span style="color: #009900;">{</span><br /> |
||
| 239 | data_package_flightcontrol.<span style="color: #202020;">data</span><span style="color: #009900;">[</span>i<span style="color: #009900;">]</span> <span style="color: #339933;">=</span> flight_values_stream<span style="color: #009900;">[</span>i<span style="color: #009900;">]</span><span style="color: #339933;">;</span><br /> |
||
| 240 | <span style="color: #009900;">}</span><br /> |
||
| 241 | create_serial_frame<span style="color: #009900;">(</span><span style="color: #0000dd;">1</span><span style="color: #339933;">,</span> <span style="color: #ff0000;">'b'</span><span style="color: #339933;">,</span> <span style="color: #993333;">sizeof</span><span style="color: #009900;">(</span><span style="color: #993333;">struct</span> str_fc_correction_data<span style="color: #009900;">)</span><span style="color: #339933;">,</span> <span style="color: #339933;">&</span>data_package_flightcontrol<span style="color: #009900;">)</span><span style="color: #339933;">;</span><br /> |
||
| 242 | <span style="color: #666666; font-style: italic;">//printf("%s\n", data_package_flightcontrol.txrxdata);</span><br /> |
||
| 243 | transmit_data<span style="color: #009900;">(</span>TO_KOPTER<span style="color: #339933;">,</span> <span style="color: #339933;">&</span>data_package_flightcontrol<span style="color: #009900;">)</span><span style="color: #339933;">;</span><br /> |
||
| 244 | <span style="color: #009900;">}</span><br /> |
||
| 245 | <br /> |
||
| 246 | <span style="color: #666666; font-style: italic;">//>> Resetting Flow and Altitude Values</span><br /> |
||
| 247 | <span style="color: #666666; font-style: italic;">//------------------------------------------------------------------------------------------------------</span><br /> |
||
| 248 | <span style="color: #993333;">void</span> reset_reference_values<span style="color: #009900;">(</span><span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
||
| 249 | reference_flow_x <span style="color: #339933;">=</span> <span style="color:#800080;">0.0</span><span style="color: #339933;">;</span><br /> |
||
| 250 | reference_flow_y <span style="color: #339933;">=</span> <span style="color:#800080;">0.0</span><span style="color: #339933;">;</span><br /> |
||
| 251 | reference_altitude <span style="color: #339933;">=</span> <span style="color:#800080;">0.0</span><span style="color: #339933;">;</span><br /> |
||
| 252 | <span style="color: #009900;">}</span><br /> |
||
| 253 | <br /> |
||
| 254 | <span style="color: #666666; font-style: italic;">//>> Initializing flightcontrol</span><br /> |
||
| 255 | <span style="color: #666666; font-style: italic;">//------------------------------------------------------------------------------------------------------</span><br /> |
||
| 256 | <span style="color: #993333;">void</span> flightcontrol_init<span style="color: #009900;">(</span><span style="color: #009900;">)</span><span style="color: #009900;">{</span><br /> |
||
| 257 | fc_correction_data.<span style="color: #202020;">Nick</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span> <br /> |
||
| 258 | fc_correction_data.<span style="color: #202020;">Roll</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span><br /> |
||
| 259 | fc_correction_data.<span style="color: #202020;">Gier</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span><br /> |
||
| 260 | fc_correction_data.<span style="color: #202020;">Gas</span> <span style="color: #339933;">=</span> <span style="color: #0000dd;">0</span><span style="color: #339933;">;</span><br /> |
||
| 261 | fc_correction_data.<span style="color: #202020;">Config</span> <span style="color: #339933;">=</span> EC_VALID <span style="color: #339933;">|</span> EC_GAS_ADD <span style="color: #339933;">|</span> EC_IGNORE_RC<span style="color: #339933;">;</span> <span style="color: #666666; font-style: italic;">//Ignore Remote Control</span><br /> |
||
| 262 | <span style="color: #009900;">}</span><br /> |
||
| 263 | </div> |
||
| 264 | </div> |
||
| 265 | <div id="footer"> |
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| 267 | </div> |
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| 268 | </body> |
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| 269 | </html> |