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966 | MikeW | 1 | /* |
2 | Copyright 2008, by Michael Walter |
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3 | |||
4 | All functions written by Michael Walter are free software and can be redistributed and/or modified under the terms of the GNU Lesser |
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5 | General Public License as published by the Free Software Foundation. This program is distributed in the hope that it will be useful, but |
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6 | WITHOUT ANY WARRANTY, without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
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7 | See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public |
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8 | License along with this program. If not, see <http://www.gnu.org/licenses/>. |
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9 | |||
10 | Please note: The software is based on the framework provided by H. Buss and I. Busker in their Mikrokopter projekt. All functions that |
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11 | are not written by Michael Walter are under the license by H. Buss and I. Busker (license_buss.txt) published by www.mikrokopter.de |
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12 | unless it is stated otherwise. |
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13 | */ |
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14 | |||
15 | |||
16 | /***************************************************************************** |
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17 | INCLUDES |
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18 | **************************************************************************** */ |
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19 | #include "kafi.h" |
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20 | #include "FlightControl.h" |
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21 | #include "main.h" |
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22 | #include "mm3.h" |
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23 | #include "main.h" |
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24 | #include "eeprom.c" |
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25 | |||
26 | /***************************************************************************** |
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27 | (SYMBOLIC) CONSTANTS |
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28 | *****************************************************************************/ |
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29 | #define MAX_GAS 250 |
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30 | #define MIN_GAS 15 |
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31 | |||
32 | #define sin45 sin(45.F / 180.F * PI) |
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33 | #define cos45 cos(45.F / 180.F * PI) |
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34 | |||
35 | /***************************************************************************** |
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36 | VARIABLES |
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37 | *****************************************************************************/ |
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38 | |||
39 | extern void GPSupdate(void); |
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40 | |||
41 | int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
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42 | int NeutralAccX = 0, NeutralAccY = 0, NeutralAccZ = 0; |
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43 | int AverageRoll_X = 0, AverageRoll_Y = 0, AverageRoll_Z = 0; |
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44 | int AveragerACC_X = 0, AveragerACC_Y = 0, AveragerACC_Z = 0; |
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45 | int Roll_X_Off = 0, Roll_Y_Off = 0, Roll_Z_Off = 0; |
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46 | |||
47 | f32_t Roll_X_Offset = 0.F, Roll_Y_Offset = 0.F, Roll_Z_Offset = 0.F; |
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48 | f32_t ACC_X_Offset = 0.F, ACC_Y_Offset = 0.F, ACC_Z_Offset = 0.F; |
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49 | |||
50 | int DeltaAltitude = 0, CurrentAltitude = 0, LastAltitude = 0, InitialAltitude = 0; |
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51 | int SummeNick=0,SummeRoll=0, StickNick = 0,StickRoll = 0,StickGier = 0, sollGier = 0; |
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52 | int GierMischanteil, GasMischanteil; |
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53 | |||
54 | unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
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55 | unsigned char MotorWert[5]; |
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56 | unsigned char SenderOkay = 0; |
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57 | unsigned int I2CTimeout = 100; |
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58 | char MotorenEin = 0; |
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59 | |||
60 | extern unsigned long maxDistance; |
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61 | extern signed int GPS_Nick, GPS_Roll; |
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62 | extern int RemoteLinkLost; |
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63 | |||
64 | struct mk_param_struct EE_Parameter; |
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65 | |||
66 | /* **************************************************************************** |
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67 | Functionname: SetNeutral */ /*! |
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68 | Description: |
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69 | |||
70 | @param[in] |
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71 | |||
72 | @return void |
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73 | @pre - |
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74 | @post - |
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75 | @author Michael Walter |
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76 | **************************************************************************** */ |
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77 | void SetNeutral(void) |
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78 | { |
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79 | Delay_ms(1000); |
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80 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
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81 | { |
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82 | if((AdWertAirPressure_Raw > 950) || (AdWertAirPressure_Raw < 750)) |
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83 | { |
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84 | SucheLuftruckOffset(); |
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85 | } |
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86 | } |
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87 | |||
88 | LastAltitude = CurrentAltitude; |
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89 | Delay_ms_Mess(300); |
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90 | |||
91 | ANALOG_OFF; |
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92 | AdNeutralNick = AdWertNick_Raw; |
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93 | AdNeutralRoll = AdWertRoll_Raw; |
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94 | AdNeutralGier = AdWertGier_Raw; |
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95 | NeutralAccY = AdWertAccRoll_Raw; |
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96 | NeutralAccX = AdWertAccNick_Raw; |
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97 | NeutralAccZ = AdWertAccHoch_Raw; |
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98 | |||
99 | Roll_X_Offset = 0.F; |
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100 | Roll_Y_Offset = 0.F; |
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101 | Roll_Z_Offset = 0.F; |
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102 | ACC_X_Offset = 0.F; |
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103 | ACC_Y_Offset = 0.F; |
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104 | ACC_Z_Offset = 0.F; |
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105 | |||
106 | AccumulatedACC_X = 0; |
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107 | AccumulatedACC_X_cnt = 0; |
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108 | AccumulatedACC_Y = 0; |
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109 | AccumulatedACC_Y_cnt = 0; |
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110 | AccumulatedACC_Z = 0; |
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111 | AccumulatedACC_Z_cnt = 0; |
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112 | |||
113 | AccumulatedRoll_X = 0; |
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114 | AccumulatedRoll_X_cnt = 0; |
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115 | AccumulatedRoll_Y = 0; |
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116 | AccumulatedRoll_Y_cnt = 0; |
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117 | AccumulatedRoll_Z = 0; |
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118 | AccumulatedRoll_Z_cnt = 0; |
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119 | |||
120 | AveragerACC_X = 0; |
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121 | AveragerACC_Y = 0; |
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122 | AveragerACC_Z = 0; |
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123 | |||
124 | AccumulatedACC_X = 0; |
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125 | AccumulatedACC_X_cnt = 0; |
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126 | AccumulatedACC_Y = 0; |
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127 | AccumulatedACC_Y_cnt = 0; |
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128 | AccumulatedACC_Z = 0; |
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129 | AccumulatedACC_Z_cnt = 0; |
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130 | ANALOG_ON; |
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131 | |||
132 | SummeRoll = 0; |
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133 | SummeNick = 0; |
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134 | |||
135 | sollGier = status.iPsi10; |
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136 | InitialAltitude = AdWertAirPressure_Raw; |
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137 | beeptime = 2000; |
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138 | } |
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139 | |||
140 | |||
141 | /* **************************************************************************** |
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142 | Functionname: GetMeasurements */ /*! |
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143 | Description: CalculateAverage |
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144 | |||
145 | @param[in] |
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146 | |||
147 | @return void |
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148 | @pre - |
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149 | @post - |
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150 | @author Michael Walter |
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151 | **************************************************************************** */ |
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152 | void GetMeasurements(void) |
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153 | { |
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154 | ANALOG_OFF; |
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155 | AverageRoll_X = AccumulatedRoll_X / AccumulatedRoll_X_cnt; |
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156 | AverageRoll_Y = AccumulatedRoll_Y / AccumulatedRoll_Y_cnt; |
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157 | AverageRoll_Z = AccumulatedRoll_Z / AccumulatedRoll_Z_cnt; |
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158 | |||
159 | /* Get Pressure Differenz */ |
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160 | CurrentAltitude = InitialAltitude - AccumulatedAirPressure / AccumulatedAirPressure_cnt; |
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161 | AccumulatedAirPressure_cnt = 0; |
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162 | AccumulatedAirPressure = 0; |
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163 | |||
164 | static char AirPressureCnt = 0; |
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165 | if (AirPressureCnt % 25 == 1) |
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166 | { |
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167 | DeltaAltitude = CurrentAltitude - LastAltitude; |
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168 | LastAltitude = CurrentAltitude; |
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169 | } |
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170 | AirPressureCnt++; |
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171 | |||
172 | //if ((GPS_Roll == 0 && GPS_Nick == 0) || (maxDistance / 10 > 10)) |
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173 | { |
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174 | Roll_X_Offset = 0.9995F * Roll_X_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_X))); |
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175 | Roll_Y_Offset = 0.9995F * Roll_Y_Offset + 0.0005F * (float) (MAX(-60, MIN(60,AverageRoll_Y))); |
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176 | |||
177 | if (abs(StickGier) < 15 || MotorenEin == 0) |
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178 | { |
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179 | Roll_Z_Offset = 0.9998F * Roll_Z_Offset + 0.0002F * (float) ( MAX(-60, MIN(60,AverageRoll_Z))); |
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180 | } |
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181 | } |
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182 | |||
183 | #if 1 |
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184 | DebugOut.Analog[7] = AdWertNick_Raw; |
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185 | DebugOut.Analog[8] = AdWertRoll_Raw; |
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186 | DebugOut.Analog[9] = AdWertGier_Raw; |
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187 | #endif |
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188 | |||
189 | AverageRoll_X -= Roll_X_Offset; |
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190 | AverageRoll_Y -= Roll_Y_Offset; |
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191 | AverageRoll_Z -= Roll_Z_Offset; |
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192 | |||
193 | AccumulatedRoll_X = 0; |
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194 | AccumulatedRoll_X_cnt = 0; |
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195 | AccumulatedRoll_Y = 0; |
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196 | AccumulatedRoll_Y_cnt = 0; |
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197 | AccumulatedRoll_Z = 0; |
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198 | AccumulatedRoll_Z_cnt = 0; |
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199 | |||
200 | #if 0 |
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201 | ACC_X_Offset = 0.9999F * ACC_X_Offset + 0.0001F * ((float) AccumulatedACC_X / (float) AccumulatedACC_X_cnt); |
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202 | ACC_Y_Offset = 0.9999F * ACC_Y_Offset + 0.0001F * ((float) AccumulatedACC_Y / (float) AccumulatedACC_Y_cnt); |
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203 | ACC_Z_Offset = 0.9999F * ACC_Z_Offset + 0.0001F * ((float) AccumulatedACC_Z / (float) AccumulatedACC_Z_cnt); |
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204 | #endif |
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205 | |||
206 | AveragerACC_X = AccumulatedACC_X / AccumulatedACC_X_cnt; |
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207 | AveragerACC_Y = AccumulatedACC_Y / AccumulatedACC_Y_cnt; |
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208 | AveragerACC_Z = AccumulatedACC_Z / AccumulatedACC_Z_cnt; |
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209 | |||
210 | AccumulatedACC_X = 0; |
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211 | AccumulatedACC_X_cnt = 0; |
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212 | AccumulatedACC_Y = 0; |
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213 | AccumulatedACC_Y_cnt = 0; |
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214 | AccumulatedACC_Z = 0; |
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215 | AccumulatedACC_Z_cnt = 0; |
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216 | |||
217 | ANALOG_ON; |
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218 | |||
219 | if (Roll_X_Off > 60) |
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220 | { |
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221 | Roll_X_Off = 60; |
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222 | } |
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223 | if (Roll_X_Off < -60) |
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224 | { |
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225 | Roll_X_Off = -60; |
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226 | } |
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227 | |||
228 | if (Roll_Y_Off > 60) |
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229 | { |
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230 | Roll_Y_Off = 60; |
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231 | } |
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232 | if (Roll_Y_Off < -60) |
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233 | { |
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234 | Roll_Y_Off = -60; |
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235 | } |
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236 | |||
237 | if (Roll_Z_Off > 60) |
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238 | { |
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239 | Roll_Z_Off = 60; |
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240 | } |
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241 | if (Roll_Z_Off < -60) |
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242 | { |
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243 | Roll_Z_Off = -60; |
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244 | } |
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245 | } |
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246 | |||
247 | /* **************************************************************************** |
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248 | Functionname: SendMotorData */ /*! |
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249 | Description: Senden der Motorwerte per I2C-Bus |
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250 | |||
251 | @return void |
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252 | @pre - |
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253 | @post - |
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254 | @author H. Buss / I. Busker |
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255 | **************************************************************************** */ |
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256 | void SendMotorData(void) |
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257 | { |
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258 | if(!MotorenEin) |
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259 | { |
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260 | Motor_Hinten = 0; |
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261 | Motor_Vorne = 0; |
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262 | Motor_Rechts = 0; |
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263 | Motor_Links = 0; |
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264 | if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
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265 | if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
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266 | if(MotorTest[2]) Motor_Links = MotorTest[2]; |
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267 | if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
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268 | } |
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269 | |||
270 | //Start I2C Interrupt Mode |
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271 | twi_state = 0; |
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272 | motor = 0; |
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273 | i2c_start(); |
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274 | } |
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275 | |||
276 | |||
277 | /* **************************************************************************** |
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278 | Functionname: RemoteControl */ /*! |
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279 | Description: |
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280 | |||
281 | @return void |
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282 | @pre - |
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283 | @post - |
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284 | @author H. Buss / I. Busker |
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285 | **************************************************************************** */ |
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286 | void RemoteControl(void) |
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287 | { |
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288 | static unsigned char delay_neutral = 0; |
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289 | static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
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290 | static unsigned int modell_fliegt = 0; |
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291 | |||
292 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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293 | // Gaswert ermitteln |
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294 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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295 | GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
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296 | if(GasMischanteil < 0) |
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297 | { |
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298 | GasMischanteil = 0; |
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299 | } |
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300 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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301 | // Emfang schlecht |
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302 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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303 | if(SenderOkay < 100) |
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304 | { |
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305 | if(!PcZugriff) |
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306 | { |
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307 | if(BeepMuster == 0xffff) |
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308 | { |
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309 | beeptime = 15000; |
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310 | BeepMuster = 0x0c00; |
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311 | } |
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312 | } |
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313 | } |
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314 | else |
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315 | { |
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316 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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317 | // Emfang gut |
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318 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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319 | if(SenderOkay > 140) |
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320 | { |
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321 | if(GasMischanteil > 40) |
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322 | { |
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323 | if(modell_fliegt < 0xffff) |
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324 | { |
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325 | modell_fliegt++; |
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326 | } |
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327 | } |
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328 | |||
329 | |||
330 | if((GasMischanteil > 200) && |
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331 | (MotorenEin == 0)) |
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332 | { |
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333 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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334 | // auf Nullwerte kalibrieren |
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335 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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336 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
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337 | { |
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338 | if(++delay_neutral > 50) // nicht sofort |
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339 | { |
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340 | MotorenEin = 0; |
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341 | delay_neutral = 0; |
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342 | modell_fliegt = 0; |
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343 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
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344 | { |
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345 | if((AdWertAirPressure_Raw > 950) || (AdWertAirPressure_Raw < 750)) |
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346 | { |
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347 | SucheLuftruckOffset(); |
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348 | } |
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349 | } |
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350 | ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
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351 | SetNeutral(); |
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352 | } |
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353 | } |
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354 | else |
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355 | { |
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356 | delay_neutral = 0; |
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357 | } |
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358 | } |
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359 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | // Gas ist unten |
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361 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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362 | if(GasMischanteil < 35) |
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363 | { |
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364 | // Starten |
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365 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
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366 | { |
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367 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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368 | // Einschalten |
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369 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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370 | if(++delay_einschalten > 100) |
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371 | { |
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372 | MotorenEin = 1; |
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373 | modell_fliegt = 1; |
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374 | delay_einschalten = 100; |
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375 | } |
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376 | } |
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377 | else |
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378 | { |
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379 | delay_einschalten = 0; |
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380 | } |
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381 | //Auf Neutralwerte setzen |
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382 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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383 | // Auschalten |
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384 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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385 | if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
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386 | { |
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387 | if(++delay_ausschalten > 50) // nicht sofort |
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388 | { |
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389 | MotorenEin = 0; |
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390 | modell_fliegt = 0; |
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391 | delay_ausschalten = 50; |
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392 | } |
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393 | } |
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394 | else |
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395 | { |
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396 | delay_ausschalten = 0; |
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397 | } |
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398 | } |
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399 | } |
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400 | } |
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401 | } |
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402 | |||
403 | |||
404 | |||
405 | |||
406 | /* **************************************************************************** |
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407 | Functionname: PD_Regler */ /*! |
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408 | Description: |
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409 | |||
410 | @return void |
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411 | @pre - |
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412 | @post - |
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413 | @author Michael Walter |
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414 | **************************************************************************** */ |
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415 | void PD_Regler(void) |
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416 | { |
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417 | int StickNick45,StickRoll45; |
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418 | int DiffNick,DiffRoll, DiffGier; |
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419 | int motorwert = 0; |
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420 | int pd_ergebnis; |
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421 | |||
422 | |||
423 | /***************************************************************************** |
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424 | Update noimial attitude |
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425 | **************************************************************************** */ |
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426 | if(!NewPpmData--) |
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427 | { |
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428 | StickNick = (StickNick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
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429 | StickRoll = (StickRoll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
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430 | StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
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431 | } // Ende neue Funken-Werte |
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432 | |||
433 | #ifdef USE_GPS |
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434 | /* G P S U p d a t e */ |
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435 | GPSupdate(); |
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436 | #endif |
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437 | |||
438 | static float AverageGasMischanteil = 50.F; |
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439 | if((GasMischanteil > 30) && |
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440 | (MotorenEin == 1) && |
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441 | (RemoteLinkLost == 0) ) |
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442 | { /* Average the average throttle to find the hover setting */ |
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443 | AverageGasMischanteil = 0.999F * AverageGasMischanteil + 0.001F * GasMischanteil; |
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444 | } |
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445 | /* Overide GasMischanteil */ |
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446 | static unsigned int DescentCnt = 32000; |
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447 | if ((RemoteLinkLost == 1) && |
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448 | (MotorenEin == 1)) |
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449 | { |
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450 | if ((UBat < 100) || /* Start to descent in case of low loltage or in case*/ |
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451 | (maxDistance / 10 < 12)) /* we reached our target position */ |
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452 | { |
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453 | if (DescentCnt > 0) |
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454 | { |
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455 | DescentCnt--; |
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456 | } |
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457 | else |
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458 | { /* We reached our target (hopefully) */ |
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459 | MotorenEin = 0; |
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460 | RemoteLinkLost = 0; |
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461 | } |
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462 | } |
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463 | else |
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464 | { |
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465 | DescentCnt = 32000; |
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466 | } |
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467 | /* Bias the throttle for a slow descent */ |
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468 | GasMischanteil = (int) ((AverageGasMischanteil + 5.0F) * (DescentCnt / 32000.F)); |
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469 | } |
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470 | else |
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471 | { |
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472 | DescentCnt = 32000; |
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473 | } |
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474 | |||
475 | //DebugOut.Analog[13] = (int) GasMischanteil; |
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476 | |||
477 | /* Overide in case the remote link got lost */ |
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478 | if (RemoteLinkLost == 0) |
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479 | { /* We are flying in X-Formation */ |
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480 | StickRoll45 = (int) (0.707F * (float)(StickRoll - GPS_Roll) - 0.707F * (float)(StickNick - GPS_Nick)); |
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481 | StickNick45 = (int) (0.707F * (float)(StickRoll - GPS_Roll) + 0.707F * (float)(StickNick - GPS_Nick)); |
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482 | } |
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483 | else |
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484 | { /* GPS overide is aktive */ |
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485 | StickRoll45 = (int) (0.707F * (float)(-GPS_Roll) - 0.707F * (float)(-GPS_Nick)); |
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486 | StickNick45 = (int) (0.707F * (float)(-GPS_Roll) + 0.707F * (float)(-GPS_Nick)); |
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487 | StickGier = 0; |
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488 | } |
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489 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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490 | // Yaw |
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491 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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492 | |||
493 | if(GasMischanteil < 20) |
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494 | { |
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495 | sollGier = status.iPsi10; |
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496 | SummeRoll = 0; |
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497 | SummeNick = 0; |
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498 | } |
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499 | |||
500 | /* Gier-Anteil */ |
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501 | if (abs(StickGier) > 4) |
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502 | { |
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503 | sollGier = status.iPsi10 + 4 * StickGier; |
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504 | } |
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505 | DiffGier = (sollGier - status.iPsi10); |
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506 | GierMischanteil = (int) (-4 * DiffGier - 4* (AdWertGier - AdNeutralGier - Roll_Z_Off)) / 10; |
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507 | |||
508 | #define MUL_G 0.8 |
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509 | if(GierMischanteil > MUL_G * GasMischanteil) |
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510 | { |
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511 | GierMischanteil = MUL_G * GasMischanteil; |
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512 | } |
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513 | if(GierMischanteil < -MUL_G * GasMischanteil) |
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514 | { |
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515 | GierMischanteil = -MUL_G * GasMischanteil; |
||
516 | } |
||
517 | if(GierMischanteil > 50) |
||
518 | { |
||
519 | GierMischanteil = 50; |
||
520 | } |
||
521 | if(GierMischanteil < -50) |
||
522 | { |
||
523 | GierMischanteil = -50; |
||
524 | } |
||
525 | |||
526 | /***************************************************************************** |
||
527 | PD-Control |
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528 | **************************************************************************** */ |
||
529 | int scale_p; |
||
530 | int scale_d; |
||
531 | |||
532 | scale_p = (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 170)) / 20); |
||
533 | scale_d = (MAX(0, (PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 170)) / 20); |
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534 | |||
535 | scale_p = 6; |
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536 | scale_d = 7; |
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537 | |||
538 | //DebugOut.Analog[14] = scale_p; |
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539 | //DebugOut.Analog[15] = scale_d; |
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540 | |||
541 | /* Pitch */ |
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542 | DiffNick = -(status.iTheta10 + StickNick45); |
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543 | /* R o l l */ |
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544 | DiffRoll = -(status.iPhi10 + StickRoll45); |
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545 | |||
546 | SummeNick += DiffNick; |
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547 | if(SummeNick > 10000) |
||
548 | { |
||
549 | SummeNick = 10000; |
||
550 | } |
||
551 | if(SummeNick < -10000) |
||
552 | { |
||
553 | SummeNick = -10000; |
||
554 | } |
||
555 | |||
556 | SummeRoll += DiffRoll; |
||
557 | if(SummeRoll > 10000) |
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558 | { |
||
559 | SummeRoll = 10000; |
||
560 | } |
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561 | if(SummeRoll < -10000) |
||
562 | { |
||
563 | SummeRoll = -10000; |
||
564 | } |
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565 | |||
566 | pd_ergebnis = ((scale_p *DiffNick + scale_d * (AdWertNick - AdNeutralNick - Roll_Y_Off)) / 10) ; // + (int)(SummeNick / 2000); |
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567 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
||
568 | { |
||
569 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
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570 | } |
||
571 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
||
572 | { |
||
573 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
||
574 | } |
||
575 | |||
576 | /* M o t o r V o r n */ |
||
577 | motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; |
||
578 | if ((motorwert < 0)) |
||
579 | { |
||
580 | motorwert = 0; |
||
581 | } |
||
582 | else if(motorwert > MAX_GAS) |
||
583 | { |
||
584 | motorwert = MAX_GAS; |
||
585 | } |
||
586 | if (motorwert < MIN_GAS) |
||
587 | { |
||
588 | motorwert = MIN_GAS; |
||
589 | } |
||
590 | Motor_Vorne = motorwert; |
||
591 | |||
592 | /* M o t o r H e c k */ |
||
593 | motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
||
594 | if ((motorwert < 0)) |
||
595 | { |
||
596 | motorwert = 0; |
||
597 | } |
||
598 | else if(motorwert > MAX_GAS) |
||
599 | { |
||
600 | motorwert = MAX_GAS; |
||
601 | } |
||
602 | if (motorwert < MIN_GAS) |
||
603 | { |
||
604 | motorwert = MIN_GAS; |
||
605 | } |
||
606 | Motor_Hinten = motorwert; |
||
607 | |||
608 | pd_ergebnis = ((scale_p * DiffRoll + scale_d * (AdWertRoll - AdNeutralRoll - Roll_X_Off)) / 10) ; //+ (int)(SummeRoll / 2000); |
||
609 | if(pd_ergebnis > (GasMischanteil + abs(GierMischanteil))) |
||
610 | { |
||
611 | pd_ergebnis = (GasMischanteil + abs(GierMischanteil)); |
||
612 | } |
||
613 | if(pd_ergebnis < -(GasMischanteil + abs(GierMischanteil))) |
||
614 | { |
||
615 | pd_ergebnis = -(GasMischanteil + abs(GierMischanteil)); |
||
616 | } |
||
617 | |||
618 | /* M o t o r L i n k s */ |
||
619 | motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
||
620 | if(motorwert > MAX_GAS) |
||
621 | { |
||
622 | motorwert = MAX_GAS; |
||
623 | } |
||
624 | if (motorwert < MIN_GAS) |
||
625 | { |
||
626 | motorwert = MIN_GAS; |
||
627 | } |
||
628 | Motor_Links = motorwert; |
||
629 | |||
630 | /* M o t o r R e c h t s */ |
||
631 | motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
||
632 | if(motorwert > MAX_GAS) |
||
633 | { |
||
634 | motorwert = MAX_GAS; |
||
635 | } |
||
636 | if (motorwert < MIN_GAS) |
||
637 | { |
||
638 | motorwert = MIN_GAS; |
||
639 | } |
||
640 | Motor_Rechts = motorwert; |
||
641 | |||
642 | #if 1 |
||
643 | DebugOut.Analog[0] = status.iTheta10; |
||
644 | DebugOut.Analog[1] = status.iPhi10; |
||
645 | DebugOut.Analog[2] = status.iPsi10 / 10; |
||
646 | #endif |
||
647 | } |